Inovance H3U Series - DRV High-Speed Positioning

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7
7 Motion Control7.7 Format and Use of MC Subprograms
DRV: High-speed positioning
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Overview
The DRV instruction is used to drive three axes to move to the target position or output the specified
number of pulses at the specied output frequency of each axis.
DRV X_ F_ Y_ F_ Z_ F_
High-speed
positioning
Applicable model:
H3U-PM
X X-axis position X-axis target position
F X-axis speed X-axis output frequency
Y Y-axis position Y-axis target position
F Y-axis speed Y-axis output frequency
Z Z-axis position Z-axis target position
F Z-axis speed Z-axis output frequency
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Operands
Parameter Bit Element Word Element Immediate operand
X M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Y M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Z M SM D DD DE R RR RE SD SDD SDE K KK H HH E
F M SM D DD DE R RR RE SD SDD SDE K KK H HH E
Note: The elements in gray background are supported. The oating-point immediate operand type is not
displayed. For example, X100 indicates the X oating point 100.00.
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Functions and actions
The DRV instruction is used to drive the x-, y-, and z-axes to move to the target position or output the
specied number of pulses at the specied output frequency of each axis. The axis for which the F function
word is omitted runs at the maximum speed.
Both the absolute position and relative position modes are supported. Both the absolute position and
relative position are relative to the current position.
The current position can be queried in special registers, for example, the 32-bit registers listed in the
following table.
X-axis Y-axis Z-axis Attribute
SD36, SD37 SD136, SD137 SD236, SD237 Current position (PLS), only for display purpose
SD40, SD41 SD140, SD141 SD240, SD241
Current position (mechanical, oating point),
only for display purpose
D8340, D8341 D8360, D8361 D8380, D8381 Current position (PLS)
The following is a single axis pulse output diagram.