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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 Setting
R1 1000
R2 2000
D1 200
D2 300
Program Description
SPN (1000)
STA (D1)
STB (D2)
MOVI (R1)
TIM (10)
MOVI (R2)
STOP
Speed (Motor speed) 1000 [r/min] a)
Acceleration time constant D1=200 [ms] b)
Deceleration time constant D2=300 [ms] c)
Incremental move command R1=1000 [
10
STM
m] d)
Dwell command time 100 [ms] e)
Incremental move command R2=2000 [
10
STM
m] f)
Program end
0r/min
Servo motor
speed
Forward
rotation
e) Dwell command
time (100ms)
d) R1=1000 10
STM
m f) R2=2000 10
STM
m
b) D1=200ms c) D2=300ms b) D1=200ms c) D2=300ms
a) 1000r/min