Inovance H3U Series - DRVI Relative Position

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6 Positioning and Interpolation DRVI: Relative positioning
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Program example
This instruction is used to control the actuator to move from the specied origin to the destination.
Origin
Targetposition
DRVI: Relative positioning
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Overview
A specied number of pulses are output at the specied pulse frequency in the specied direction through
the specied output port. The action is based on the relative position.
DRVI S1 S2 D1 D2
Relative positioning Applicable model:
H3U
S1 Pulse
count
Specied number of pulse outputs
16-bit instruction
(9 steps)
DRVI: Continuous
execution
32-bit instruction
(17 steps)
DDRVI: Continuous
execution
S2 Output
frequency
Specied 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 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
D1 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
D2 X Y M T C S SM D R T C SD KnX KnY KnM KnS KnSM V Z Modication K H E
Note: The elements in gray background are supported.
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Functions and actions
This instruction is used to output a specied number of pulses at the specied frequency and in the
specied direction through the specied port, and drive the servo actuator to move toward the given offset
based on the current position. This instruction is applicable only to the PLC of the transistor output type.
Wherein: