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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