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MR
DMC-1000/1500 Command Reference
DMC-1000
DMC-1500
MR
FUNCTION:
Reverse Motion to Position
DESCRIPTION:
The MR command is a trippoint used to control the timing of events. This command will
hold up the execution of the following command until the specified motor moves
backward and crosses the position specified. The units of the command are in
quadrature counts. Only one axis may be specified at a time. The MR command can
also be used when the encoder is the master and not under servo control.
ARGUMENTS:
MRx or MR,y or MR,,z or MR,,,w MRX=X MR abcdefgh where
x,y,z,w are signed integers in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving
No
Default Value
In a Program
Yes
Default Format
Command Line
Yes
Can be Interrogated
No
Used as an Operand
No
RELATED COMMANDS:
AD
Trippoint for Relative Distances
AP
Trippoint for after Absolute Position
EXAMPLES:
#TEST
Program B
DP0
Define zero
JG -1000
Jog mode (speed of 1000 counts/sec)
BG X
Begin move
MR -3000
After passing the position -3000
V1=_TPX
Assign V1 X position
MG "Position is", V1= ST
Print Message Stop
EN
End of Program
Hint: The accuracy of the MR command is the number of counts that occur in 2 msec. Multiply the
speed by 2 msec to obtain the maximum error. MR tests for absolute position. The MR command
can also be used when the specified motor is driven independently by an external device.
