Mitsubishi Electric Melservo-J2-SUPER series Instruction Manual page 107

4. OPERATION
(j) Indirect addressing using general-purpose registers (R1-R4, D1-D4)
The set values of the "SPN", "STA", "STB", "STC", "STD", "MOV", "MOVI", "MOVA", "MOVIA",
"TIM" and "TIMES" commands can be addressed indirectly.
The values stored in the general-purpose registers (R1-R4, D1-D4) are used as the set values of the
commands.
Change the values of the general-purpose registers using the communication command when the
program is not being executed by the communication command. (Refer to Section 15.12.13)
The data of the general-purpose registers are erased at power-off of the servo amplifier. Note that
the data of the general-purpose registers (R1-R4, D1-D4) can be saved in the EEP-ROM.
The setting ranges of the general-purpose registers are the setting ranges of the instructions with
which the general-purpose registers are used.
The following explains the case where the general-purpose registers are set as indicated below
before execution of the program.
General-purpose register
R1
R2
D1
D2
Program
SPN (1000)
STA (D1)
STB (D2)
MOVI (R1)
TIM (10)
MOVI (R2)
STOP
a) 1000r/min
Forward
rotation
Servo motor
0r/min
speed
Setting
1000
2000
200
300
Speed (Motor speed)
Acceleration time constant
Deceleration time constant
Incremental move command
Dwell command time
Incremental move command
Program end
b) D1=200ms c) D2=300ms b) D1=200ms
d) R1=1000 10 STM m
Description
f) R2=2000
e) Dwell command
time (100ms)
4 - 24
1000 [r/min]
D1=200 [ms]
D2=300 [ms]
R1=1000 [ 10 m]
STM
100 [ms]
R2=2000 [ 10 m]
STM
c) D2=300ms
10 STM m
a)
b)
c)
d)
e)
f)