Mitsubishi HD-5000A Instruction Manual download pdf (Page 113)

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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 [

STM

m] d)

Dwell command time 100 [ms] e)

Incremental move command R2=2000 [

STM

m] f)

Program end

0r/min

Servo moto

speed

Forward

rotation

e) Dwell command

time (100ms)

d) R1=1000 10

STM

m f) R2=2000 10

STM

b) D1=200ms c) D2=300ms b) D1=200ms c) D2=300ms

a) 1000r/min

1 2 ... 108 109 110 111 112 113 114 115 116 117 118 ... 355 356

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Mitsubishi HD-5000A Instruction Manual Page 113

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