(Absolute Current Value Read) - ABS Instruction
2. Absolute method (absolute address setting method)
8.3 Drive To Absolute - DRVA Instruction
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction
A
Common Items
Functions Positioning
B
Built-inApx.
Connection ExampleFX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction
2 : When a high-speed output special adapter is used as a destination for pulse output on a FX3U PLC, use the output shown in the following table for rotation direction signals.
When a built-in transistor output is used as a destination for pulse output on a FX3S/FX3G/FX3GC/FX3U/ FX3UC PLC, use transistor output for signals rotation direction.
For the outputs applicable with a High-speed output special adapter, refer to Section 4.9.
3 : D.b is available only in FX3U and FX3UC PLCs. However, index modifiers (V and Z) are not available.
4 : Only available for FX3G/FX3GC/FX3U and FX3UC PLCs.
5 : Only available for FX3U and FX3UC PLCs.
8.3.2 List of Related Devices
1. Special auxiliary relays
The following table shows the related special auxiliary relays. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 can be specified as the pulse output destination only if two FX3U-2HSY-ADP are connected to the FX3U PLC.
*3. Cleared when the PLC switches from RUN to STOP.
High-speed output special
adapter connection position Pulse output Rotation direction output
1st adapter = Y000 = Y004
= Y001 = Y005
2nd adapter = Y002 = Y006
= Y003 = Y007
Device number
Function Attribute Refer to
Y000 Y001 Y002*1 Y003*2
M8029 "Instruction execution complete" flag Read only Subsection 4.4.2 M8329 "Instruction execution abnormal end" flag Read only Subsection
4.4.2 M8340 M8350 M8360 M8370 "Pulse output monitor" (BUSY/READY) flag Read only Subsection
4.4.3
M8343 M8353 M8363 M8373 Forward limit Drivable Subsection
4.3.1
M8344 M8354 M8364 M8374 Reverse limit Drivable Subsection
4.3.1 M8348 M8358 M8368 M8378 Positioning instruction activation Read only Subsection
4.4.4
M8349 M8359 M8369 M8379 Pulse output stop command*3 Drivable Subsection
4.3.2
D1 D2
D1 D2
D1 D2
D1 D2
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example2. Special data registers
The following table shows the related special data registers. Note that Y000, Y001, Y002, and Y003 are devices that determine the pulse output destinations.
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 can be specified as the pulse output destination only if two FX3U-2HSY-ADP are connected to the FX3U
PLC.
Device number
Function Data
length
Default
value Refer to
Y000 Y001 Y002*1 Y003*2
D8340
Low-order D8350
Low-order D8360
Low-order D8370
Low-order Current value register
(PLS) 32-bit 0 Subsection
4.4.1 D8341
High-order D8351
High-order D8361
High-order D8371 High-order
D8342 D8352 D8362 D8372 Bias speed (Hz) 16-bit 0 Subsection
4.2.6 D8343
Low-order D8353
Low-order D8363
Low-order D8373 Low-order
Maximum speed (Hz) 32-bit 100,000Subsection 4.2.5 D8344
High-order D8354
High-order D8364
High-order D8374 High-order
D8345 D8355 D8365 D8375 Creep speed (Hz) 16-bit 1000 Subsection
4.2.4 D8346
Low-order D8356
Low-order D8366
Low-order D8376 Low-order
Zero return speed (Hz) 32-bit 50,000 Subsection 4.2.3 D8347
High-order D8357
High-order D8367
High-order D8377 High-order
D8348 D8358 D8368 D8378 Acceleration time (ms) 16-bit 100 Subsection
4.2.7
D8349 D8359 D8369 D8379 Deceleration time (ms) 16-bit 100 Subsection
4.2.8
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction
8.3.3 Function and Operation
This instruction uses an absolute drive method to perform a 1-speed positioning instruction.
For this instruction, the distance from the origin (zero-point) to the target position should be specified.
For details on the "Instruction execution complete" flag, refer to Subsection 4.7.4.
For details on the maximum speed, bias speed, acceleration time, and deceleration time, refer to Section 4.2.
1) For , specify the number of output pulses (absolute address value).
2) For , specify the output pulse frequency.
3) For , specify the pulse output number in the range of Y000 to Y003.
4) For , specify the rotation direction signal output device number.
When a high-speed output special adapter is used as a destination for pulse output on a FX3U PLC, use the output shown in the following table for rotation direction signals.
When a built-in transistor output is used as a destination for pulse output on a FX3S/FX3G/FX3GC/FX3U/ FX3UC PLC, use transistor output for signals rotation direction.
Setting range
16-bit operation -32,768 to +32,767
32-bit operation -999,999 to +999,999
Setting range
16-bit operation 10 to 32,767(Hz)
32-bit operation When a high-speed output special adapter is used 10 to 200,000(Hz) When a transistor output from the main unit is used 10 to 100,000(Hz)
High-speed output special adapter
connection position Pulse output destination device Rotation direction output
1st adapter = Y000 = Y004
= Y001 = Y005
2nd adapter = Y002 = Y006
= Y003 = Y007
Speed
Instruction execution
ON
Time
"Instruction
execution complete" flag M8029
Maximum speed
Deceleration time
Biasspeed Acceleration
time
Output pulse frequency
Number of output pulses S1•
S2• Command
input
FNC159
DRVA S1• S2• D1• D2•
S1
S2
D1 D2
D1 D2
D1 D2
D1 D2
D1 D2
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.3 Drive To Absolute - DRVA Instruction
A
Common Items
Functions Positioning
B
Built-inApx.
Connection ExampleThe rotation direction ON/OFF status of the specified device is shown in the following table.
During instruction execution, however, do not use the output for other purposes.
8.3.4 Important Points
For the important points of programming, refer to Section 4.7.
• If an the operand is changed during instruction execution, the change will be ignored and the operation will not be affected.
Note that the changed operand will be enabled at the next activation of the instruction.
• If the instruction activation contact is turned off during execution of the instruction, the speed will decelerate and the operation will stop.
In this case, the "Instruction execution complete" flag (M8029) will not be turned on.
• If the limit flag (forward or reverse) in the operation direction is turned on, the speed will decelerate and the operation will stop. In this case, the "Instruction execution abnormal end" flag (M8329) will be turned on when execution of the instruction is complete.
For details on the "Instruction execution abnormal end" flag, refer to Subsection 4.7.4.
• If the "pulse output monitor" (BUSY/READY) flag is on, a positioning instruction (including PLSR and PLSY) that uses the same output cannot be executed.
If the "pulse output monitor" (BUSY/READY) flag is still on after the instruction activation contact is turned off, do not execute a positioning instruction (including PLSR and PLSY instructions) that uses the same output number.
ON/OFF status of device
specified by Rotation direction (increase/decrease current value) ON Forward rotation (Outputting pulses from
will increase the current value.)
The rotation direction (normal or reverse rotation) depends on which value is larger;
the number of output pulses specified by (absolute address) or the value indicated in the current value register.
OFF Reverse rotation (Outputting pulses from will reduce the current value.)
D2
D2
D1
S D1
9.1 Instruction Format
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition Built-in Positioning Functions