5. HOW TO USE THE PROGRAM
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(j) Indirect specification with general purpose registers (R1-R4, D1-D4)
You can indirectly specify the setting values of the "SPN", "STA", "STB", "STC", "STD", "MOV",
"MOVI", "MOVA", "MOVIA", "TIM", and "TIMES" commands.
The value, which is stored in each general purpose register (R1-R4, D1-D4), is used as the setting
value of each command.
Change the general purpose registers by using MR Configurator2 or a communication command
while the program is not executed by a communication command
The data of the general purpose registers is erased at power-off of the servo amplifier. Note that the
data of the general purpose registers (R1-R4) can be stored in EEP-ROM.
The setting range of each general purpose register is that of the command for which each register is
used.
The following explains a case where the general purpose registers are set as shown below before
the execution of the program.
General purpose register Setting
R1 1000
R2 2000
D1 200
D2 300
Command Description
SPN (1000) Servo motor speed 1000 [r/min] a)
STA (D1) Acceleration time constant D1 = 200 [ms] b)
STB (D2) Deceleration time constant D2 = 300 [ms] c)
MOVI (R1) Incremental value travel command R1 = 1000 [×10
STM
μm] d)
TIM (100) Dwell 100 [ms] e)
MOVI (R2) Incremental value travel command R2 = 2000 [×10
STM
μm] f)
STOP Program stop
Servo motor
speed
d) R1 = 1000 × 10
STM
μ
m
e) Dwell
(100 ms)
f) R2 = 2000 × 10
STM
μ
m
a) 1000 r/min
b) D1 = 200 ms
c) D2 = 300 ms
b) D1 = 200 ms
c) D2 = 300 ms
Reverse rotation
0 r/min
Forward rotation
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