Galil Motion Control DMC-40x0 Series, Справочник по командам

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DMC-40x0 Command Reference MR • 167
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 only requires an encoder and does
not require that the axis be under servo control.
* When using a stepper motor, this condition is satisfied when the stepper position (as determined
by the output buffer) has crossed the specified Reverse Motion Position. For further
information see Chapter 6 of the User Manual
“Stepper Motor Operation”
.
ARGUMENTS: MR n,n,n,n,n,n,n,n or MRA=n where
n is a signed integers in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving Yes Default Value
In a Program Yes Default Format
Command Line No
Controller Usage ALL CONTROLLERS
RELATED COMMANDS:
AR Trippoint for Relative Distances
AP Trippoint for after Absolute Position
EXAMPLES:
#TEST ; 'Program Test
DP 0 ; 'Define zero
JG -1000 ; 'Jog mode (speed of 1000 counts/sec)
BG A ; 'Begin move
MF -3000 ; 'After passing the position -3000
V1= _TP A ; 'Assign V1 A position
MG "Position is" , V1 ; 'Print Message
ST ; 'Stop
EN ; 'End of Program
Hint: The accuracy of the MR command is the number of counts that occur in 2*TM
μ
sec. Multiply the
speed by 2*TM
μ
sec 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.