5.4 Relative Positioning - Mitsubishi Electric MELSEC iQ-F FX5 User Manual

5.4
Relative Positioning
This instruction performs 1-speed positioning in the incremental method (positioning operation with a relative address).
While regarding the current position as the start point, specify the transfer direction and the transfer distance (relative
address) to determine the target position.
Transfer distance+100
0
Origin
DRVI/DDRVI
This instruction executes 1-speed positioning by relative address.
Ladder
(s1)
Setting data
■Description, range, data type (DRVI)
• FX5 operand
Operand Description
(s1) Word device number storing the positioning address or
*1
data
(s2) Word device number storing command speed or data
(d1) Axis number from which pulses are output
(d2) Bit device number of the instruction execution complete
flag and abnormal end flag
• FX3 compatible operand (Supported only for CPU module)
Operand Description
(s1) Word device number storing the positioning address or
*1
data
(s2) Word device number storing command speed or data
(d1) Output bit device number (Y) from which pulses are output
(d2) Bit device number from which rotation direction is output
*1 The positioning address can be changed during positioning operation. (Page 36 Positioning address change during positioning
operation)
*2 Command speed can be changed during positioning operation. (Page 37 Command speed change during positioning operation)
*3 CPU module: K1 to 4 (Axis 1 to Axis 4)
High-speed pulse input/output module: K5 to 12 (Axis 5 to Axis 12)
5 POSITIONING INSTRUCTION
96

5.4 Relative Positioning

Transfer distance+100
Transfer distance-100
100
Point A
(s2) (d1) (d2)
Transfer distance+100
Transfer distance-150
Transfer distance+50
150
Point B
ST
ENO:=DRVI(EN,s1,s2,d1,d2);
ENO:=DDRVI(EN,s1,s2,d1,d2);
Range
-32768 to +32767
(User system unit)
*2
1 to 65535
(User system unit)
*3
K1 to 12

Range
-32768 to +32767
(User system unit)
*2
1 to 65535
(User system unit)
0 to 3

Transfer distance-100
300
Point C
FBD/LD
EN
s1
s2
d1
Data type Data type (label)
16-bit signed binary ANY16
16-bit unsigned binary ANY16
16-bit unsigned binary ANY_ELEMENTARY
(WORD)
Bit ANY_BOOL
Data type Data type (label)
16-bit signed binary ANY16
16-bit unsigned binary ANY16
Bit ANY_ELEMENTARY
(BOOL)
Bit ANY_BOOL
Start point
End point
ENO
d2