3.1.6
Drive execution instruction
Fi:bVdEspeed drive instruction
1)
ZRN
Relevant elements:
Machine home position return
2)
RAD General home position return
3)
*
Relative drive
4)
ABS 1
to
9,999 Absolute drive
5) ROT Rotary table drive
Execution
time:
Waiting type (Indefinite until motor positioning is completed.)
Example
of
relative drive
The relative addresses such
as
ADR,
K,
EXT
K,
etc. are valid
for
the drive command DRV
+.
ADR
+
instruction, EXT
+
instruction, etc. are also regarded as ADR K, EXT
K,
etc. respectively when
DRV
+
is used.
Try operation steps
Id\
.-
IC\
Machine
General Initial position
home positlon return position
,
a
C
I(1)
Machine home position return
K
I
I
1
I
I
I
h
Waiting'
(1
sec.)
Waiting for start
(2)
500
'
(3)
1,500
(4)
1,500
I
,
1
(6)
RAD
position return
.
......
......
..........
..::
.:.:.
:..jj..:j.:.:;
'+.+tY.qu~l:@~:s
...........
P
BLK
DRV
SPD
ADR
DRV
SET
ADR
DRV
TM
R
DRV
WAIT
ADR
DRV
TMR
DRV
END
+
K
-
K
RAD
A
I
Waiting
(1
sec.)
.........
:,:A:,:.
..:..
.
..........................
::..::
............
:.:.:
........
:.:::::.::::.
;:;:>
..::j:
0
;,i:;:,Ii;;,.;gj=
.................
:
-
8,000
)
500
1,500
100
1,000
100
Block-0 start
Machine home return (ZERO RETURN)
Omitted if parameter speed is used.
Steps 2 and
3
are interchangeable.
Sets the general return position
to
500.
(Note)
Movement
to
point a
Waiting for 1 sec.
(Step
6
data is used for the next ADR K1500 instruction.).
Movement from point a
to
point b
Waiting for
1
sec.
Movement form point b
to
point c
General return
Completion
of
block
0
Note:
The absolute address
of
the machine home position is determined by the home position address parameter
number 19. If it is
0,
the general return is written as +500 in the general return position register.
If
there is no program in step
3
and step
4,
the general return position becomes equal
to
the machine home
position, which mean the contents in the return address register will become
0
(when PARA number 19 is
'0')
-
36
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