Inovance H3U Series - Page 291

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4
4 Instructions4.9.5 Communication Positioning
K1: Axis number
D200: Position
D202: Speed
D210: Acceleration/Deceleration time
M170: Positioning completed
M171: Positioning incorrect
1) If M5 is disabled during positioning, the servo continues movement toward a destination, but the
complete ag M170 is not set.
2) If a servo data write error occurs when the instruction is executed, the servo stops movement and the
error ag M171 is set. M171 is reset after M5 is disabled.
3) M170 is set after positioning is completed. It is reset when M5 is disabled.
• The instruction can be called multiple times for the same axis, but the element that stores the speed parameter
cannot be the same during each call.
AXISZRN: Axis zero return
◆
Overview
The AXISZRN instruction performs axis home attaining based on CANlink.
AXISZRN S1 S2 S3 S4
Servo zero return Applicable model:
H3U
S1
Axis
number
Servo station number, in the range 1 to 16
16-bit instruction (9
steps)
AXISZRN:
Continuous execution
S2
Position
offset
Origin position offset (which occupies four elements and cannot
be the same for different instructions)
S3
Complete
ag
Completion of home attaining
S4 Error ag Instruction error ag
◆
Operands
Operand
Bit Element Word Element
System·User System·User Bit Designation Indexed Address Constant
Real
Number
S1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S3 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
S4 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E