(Absolute Current Value Read) - ABS Instruction
2. Absolute method (absolute address setting method)
8.2 Drive to Increment - DRVI Instruction
8.2.1 Instruction Format
1. Instruction Format2. Data setting
*1. Setting range : -32,768 to +32,767 (excluding 0) for 16-bit operation : -999,999 to +999,999 (excluding 0) for 32-bit operation
*2. Setting range : 10 to 32,767 Hz for 16-bit operation
For 32-bit operation, however, the setting range is as shown in the following table.
3. Devices
1 : Specify Y000, Y001, or Y002*3 transistor output from the main unit, or specify Y000, Y001, Y002*5, or Y003*5 from a high-speed output special adapter*4.
*3. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*4. High-speed output special adapters can be connected only to the FX3U PLC.
*5. To use Y002 and Y003 with a high-speed output special adapter, connect a second high-speed output special adapter.
Note:
• To use an FX3U PLC of relay output type or triac output type, be sure to connect a high-speed output special adapter.
• Differential line drive type outputs will be used for the outputs of the high-speed output special adapter.
Operand type Description Data type
Specifies the number of output pulses (relative address).*1
BIN16/32-bit Specifies the output pulse frequency.*2
Specifies the pulse output number.
Specifies the rotation direction signal output destination device number. Bit
Pulse output destination Setting range
FX3U PLC High-speed output special adapter 10 to 200,000(Hz) FX3S/FX3G/FX3GC/FX3U/FX3UC PLC Main unit (transistor output) 10 to 100,000(Hz)
Operand type
Bit device Word device Others
System user Digit designation System user
Spe-cial
unit Index Con-stant
Real num-ber
Char-acter string Pointer X Y M T C S D.b KnX KnY KnM KnS T C D R U\G V Z Modify K H E "" P
4 5
4 5
1
2 3
FNC 158 DRVI DRIVE TO INCREMENT D
16-bit instruction
9 steps DRVI
-Continuous execution type Instruction
symbol Execution condition 32-bit
instruction Instruction
symbol Execution condition DDRVI
-Continuous execution type 17 steps
Command
input FNC158
DRVI S1• S2• D1• D2•
S1 S2 D1 D2
S1 S2 D1 D2
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example2 : 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.
8.2.2 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.
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
*1. Y002 is not available in FX3G PLC (14-point and 24-point type) and FX3S/FX3GC PLC.
*2. Y003 is available only when two high-speed output special adapters are connected to the FX3U PLC.
*3. Cleared when the PLC switches from RUN to STOP.
D1 D2
D1 D2
D1 D2
D1 D2
FX /FX /FX /FX /FX PLC User's Manual - Positioning Control Edition
Built-in Positioning Functions 8.2 Drive to Increment - DRVI Instruction
2. 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 is available only when two high-speed output special adapters are connected to the FX3U PLC.
Device number
Function Data
length
Initial
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 100,000 Subsection 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 8.2 Drive to Increment - DRVI Instruction
A
Common Items
Functions Positioning
B
Built-inApx.
Connection Example8.2.3 Function and Operation
This instruction uses a relative drive method to perform a 1-speed positioning instruction. For this instruction, the transfer distance from the current position to the target position should be specified together with a plus or minus sign. This method is also referred to as the incremental (relative) drive method.
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 (relative 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
Command
input FNC158
DRVI S1• S2• D1• D2•
Output pulse frequency
Time Speed
Instruction execution
Number of output pulses S1•
S2•
"Instruction
execution complete" flag
M8029 ON
Maximum speed
Deceleration time
Biasspeed Acceleration
time
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 8.2 Drive to Increment - DRVI Instruction
The 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.
8.2.4 Important Points
For the important points of programming, refer to Section 4.7.
• If an 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.
• While 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
If the number of output pulses specified by is a positive number, the operation will be performed in the forward rotation direction.
Forward rotation (Outputting pulses from will increase the current value.)
OFF
If the number of output pulses specified by is a negative number, the operation will be performed in the reverse rotation direction.
Reverse rotation (Outputting pulses from will decrease the current value.) D2
D2
S1
D1 S1
D1
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