Inovance H3U Series - Page 292

291
4
4 Instructions 4.9.5 Communication Positioning
◆
Function
① Axis number: Number of the axis that requires home attaining, in the range K1 to K16.
② Origin position offset: It can be set when necessary. It is typically set to 0 and stored in a D or R
element. Speed: in integer or oating-point number format. For details about the units and conversion,
see
“AXISDRVA: Absolute axis positioning” on Page 288.
This operand occupies four consecutive word
elements, two for the parameter and the other for the instruction state machine.
③ Complete ag: Indicates that home attaining is completed. It is stored in an S or M element.
④ Error ag: It is set when an error occurs in the following conditions:
• The driver is not enabled. (The AXISENAB instruction is disabled.)
• The position offset is not written successfully.
• The driver generates an alarm.
• Instructions conict with each other. (The positioning, jog, positioning stop, and emergency stop instructions
cannot be triggered at the same time.)
• The complete ag and error ag are reset after the enable signal breaks off.
◆
Example
M4
Location of
the servo
M150
M151
(1) Home attaining
not completed
(2) Home attaining
incorrect
(3) Home
attaining zero
normal
K1: Axis number
D150: Servo origin offset, which is converted to the parameter number H05-36
M150: Positioning completed
M151: Positioning incorrect
When M4 = 0, home attaining is disabled for servo 1; when M4 = 1, home attaining is enabled for servo 1.
1) If M4 is disabled during positioning, the servo continues movement toward a destination, but the
complete ag M150 is not set.
2) If a servo data write error occurs when the instruction is executed, the servo stops movement and the
error ag M151 is set. M151 is reset after M4 is disabled.
3) M150 is set after positioning is completed. It is reset when M4 is disabled.
• This instruction can be executed only once for every axis.