Mitsubishi Electric MELSERVO MR-J4-03A6-RJ, Instruction Manual

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5. HOW TO USE THE PROGRAM
5 - 27
(j) Indirect specification with general purpose registers (R1 to R4, D1 to 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 to R4, D1 to D4), is used as the
setting value of each command.
While the program is not executed by a communication command, you can change the general
purpose registers by using MR Configurator2 or a communication command.
The data of the general purpose registers is erased at power-off of the servo amplifier. Note that you
can store the data of the general purpose registers (R1 to R4) in EEP-ROM.
The setting range of each general purpose register is that of the instruction 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
μ
m] d)
TIM (100) Dwell 100 [ms] e)
MOVI (R2) Incremental value travel command R2 = 2000 [×10
STM
μ
m] f)
STOP Program stop
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
Servo motor speed
Forward rotation
0 r/min
Reverse rotation
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