IMS 17 Operating Instructions Manual page 58

MNEMONIC
R1 - R4
DESCRIPTION
The MDrive Motion Control has four 32 bit user registers to contain numerical data. These registers may contain up to 11 digits
including the sign and may be used to store and retrieve data to set variables, perform math functions, store and retrieve moves and
set conditions for branches and subroutine calls.
USAGE
R<x>=<data>
EXAMPLES:
R1=50000 'Set Register 1 to 50000
'Subroutine using a register value to perform a math function that will display axis position in revolutions rather than motor steps
'****variable setup*****
MS=256 'set resolution to 256 microsteps/step
P=0 'set position counter to 0
R1=51200/1 '51200 steps = 1 rev
*****Program Content*******
MR R1 'move relative 102400 steps
H 'Hold execution until motion stops
CL 348 'call subroutine at address 348
'******Sub at address 348******
R2=P 'set Register 2 equal to the position counter
R3=R2/R1 'set Register 3 equal to R2/R1
PR "Position = ", R3, "Revolutions";
H 60000 'hold for 1 minute
RT 'return to prog
RELATED COMMANDS: —
MNEMONIC
RC
DESCRIPTION
This variable defines the motor run current in percent.
USAGE
RC=<percent>
EXAMPLE:
RC=75 'Set motor run current to 75%
RELATED COMMAND: HC
FUNCTION
User Registers
RANGE
-2147483647 to 2147483647
FUNCTION
Run Current
UNITS
Percent
TYPE
User Variable
DEFAULT
0
TYPE
Setup Variable
RANGE
1to 100
DEFAULT
25
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