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6 Positioning and InterpolationDRVA: Absolute positioning
DRVA: Absolute positioning
◆
Overview
A specified number of pulses are output at the specified pulse frequency in the specified
direction through the specied output port. The action is based on the absolute position.
DRVA
S1 S2 D1 D2
Absolute positioning Applicable model:
H3U
S1 Pulse
count
Specied number of pulse outputs
16-bit instruction
(9 steps)
DRVA:
Continuous
execution
32-bit instruction
(17 steps)
DDRVA:
Continuous
execution
S2 Output
frequency
Specied pulse output frequency
D1 Output
port
High-speed pulse output port
D2 Output
direction
Pulse running direction port or bit variable
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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 Modication K H E
S2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
D1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
D2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
Note: The elements in gray background are supported.
◆
Functions and actions
This instruction is used to output pulses at the specied frequency and in the specied direction through
the specied port, and drive the servo actuator to move to the specied destination. This instruction is
applicable only to the PLC of the transistor output type.
S1 indicates the specied destination (absolute position). For a 16-bit instruction, the range is –32768 to
+32,767. For a 32-bit instruction, the range is –2,147,483,648 to +2,147,483,647. The "–" indicates the
reverse direction.
The following table lists the absolute position current values.
Y0 Y1 Y2 Y3 Y4 Attribute
D8340 D8360 D8380 D8400 D8420
Current value register (PLS) (32-bit)
D8341 D8361 D8381 D8401 D8421
The numerical value of the current value register decreases in the reverse direction.
S2 indicates the specied output pulse frequency. For a 16-bit instruction, the range is 10 to 32,767 Hz. For
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