Relative Positioning - Mitsubishi Electric MELSEC iQ-F Series 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
Transfer distance+100
0
Origin
DRVI/DDRVI
This instruction executes 1-speed positioning by relative address.
Ladder
(s1) (s2) (d1)
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
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 31 Positioning address change during positioning
operation)
*2 Command speed can be changed during positioning operation. (Page 32 Command speed change during positioning operation)
Transfer distance-150
Transfer distance-100
100 150
Point A Point B
ST
ENO:=DRVI(EN,s1,s2,d1,d2);
ENO:=DDRVI(EN,s1,s2,d1,d2);
(d2)
*2
*2
Transfer distance-100
Transfer distance+100
Transfer distance+50
Range Data type
-32768 to +32767 16-bit signed binary
(User system unit)
1 to 65535 16-bit unsigned binary
(User system unit)
K1 to 4 16-bit unsigned binary

Bit
Range Data type
-32768 to +32767 16-bit signed binary
(User system unit)
1 to 65535 16-bit unsigned binary
(User system unit)
0 to 3 Bit
 Bit
Start point
End point
300
Point C
FBD/LD
EN ENO
s1 d2
s2
d1
Data type (label)
ANY16
ANY16
ANY_ELEMENTARY
(WORD)
ANY_BOOL
Data type (label)
ANY16
ANY16
ANY_ELEMENTARY
(BOOL)
ANY_BOOL
5 POSITIONING INSTRUCTION
5.4 Relative Positioning
5
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