Mitsubishi Electric MELSERVO-J4 Instruction Manual page 186

5. HOW TO USE THE PROGRAM
(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.
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-R4) 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.
Command
SPN (1000)
STA (D1)
STB (D2)
MOVI (R1)
TIM (100)
MOVI (R2)
STOP
a) 1000 r/min
Forward
rotation
Servo motor speed
General purpose register
R1
R2
D1
D2
Servo motor speed
Acceleration time constant
Deceleration time constant
Incremental value travel command
Dwell
Incremental value travel command
Program stop
b) D1 = 200 ms
0 r/min
d) R1 = 1000 × 10
Setting
1000
2000
200
300
Description
1000 [r/min]
D1 = 200 [ms]
D2 = 300 [ms]
R1 = 1000 [×10
100 [ms]
R2 = 2000 [×10
c) D2 = 300 ms b) D1 = 200 ms
STM
μm
e) Dwell
(100 ms)
5 - 27
a)
b)
c)
STM
μm] d)
e)
STM
μm] f)
c) D2 = 300 ms
STM
μm
f) R2 = 2000 × 10