11 POSITIONING INSTRUCTION
11.1 Positioning Instruction
667
11
16-bit data relative positioning
DRVI [For the FX3 Series-compatible operand specification]
This instruction executes one-speed positioning by incremental drive.
■Descriptions, ranges, and data types
■Applicable devices
*1 Only Y can be used.
*2 When the output mode is CW/CCW, specify the CCW axis. When the output mode is PULSE/SIGN and using Y, only the SIGN output or
general-purpose output of the self-axis can be specified.
*3 T, ST, C cannot be used.
This instruction executes one-speed positioning by incremental drive. Specify the positioning address in the incremental
system, in which the transfer direction and transfer distance from the current position (relative address) are specified for
positioning.
• For (s1), specify the relative positioning address in user units. (The address must be within the range of -2147483647 to
+2147483647 number of pulses.)
• For (s2), specify the command speed in user units. (The speed must be 200 Kpps or lower in frequency.)
• For (d1), specify the device from which pulses are output. Only the Y devices having positioning parameters can be
specified.
• For (d2), specify the bit device from which the rotation direction signal is output. Only the device specified with the
parameter or general-purpose outputs can be specified. When the output devices (Y) is executed by another function
(PWM, positioning PULSE axis, or CW/CCW axis etc.), the device does not function and causes an error.
For details on the function, precautions, and error code, refer to Built-in positioning manual.
Ladder diagram Structured text
ENO:=DRVI(EN,s1,s2,d1,d2);
Operand Description Range Data type Data type (label)
(s1) Positioning address -32768 to +32767 16-bit signed binary ANY16
(s2) Command speed 1 to 65535 16-bit unsigned binary ANY16
(d1) Output bit device number (Y) from which pulses are output 0 to 3 Bit ANY_ELEMENTARY
(d2) Bit device number from which the rotation direction is output Bit ANY_BOOL
Operand Bit Word Double word Indirect
specification
Constant Others
X, Y, M, L,
SM, F, B, SB
U\G T, ST,
C, LC
T, ST, C, D,
W, SD, SW, R
U\G Z LC LZ K, H E $
(s1)
(s2)
(d1)
*1
(d2)
*2
*3
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