DMC-18x6 Command Reference
140
MR
FUNCTION: Reverse Motion to Position
DESCRIPTION:
The MR command is a trippoint used to control the timing of events. This command will hold up
the execution of the following command until the specified motor moves backward and
crosses the position specified*. The units of the command are in quadrature counts. Only
one axis may be specified at a time. The MR command only requires an encoder and does
not require that the axis be under servo control.
* When using a stepper motor, this condition is satisfied when the stepper position (as determined
by the output buffer) has crossed the specified Reverse Motion Position. For further
information see Chapter 6 of the User Manual "Stepper Motor Operation".
ARGUMENTS: MR n,n,n,n,n,n,n,n or
MRA=n where
n is a signed integers in the range -2147483648 to 2147483647 decimal
USAGE: DEFAULTS:
While Moving
Yes
Default Value
In a Program
Yes
Default Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
Trippoint for Relative Distances
Trippoint for after Absolute Position
EXAMPLES:
#TEST
Program B
DP0
Define zero
JG -1000
Jog mode (speed of 1000 counts/sec)
BG A
Begin move
MR -3000
After passing the position -3000
V1=_TPA
Assign V1 A position
MG "Position is", V1
Print Message
ST Stop
EN
End of Program
Hint: The accuracy of the MR command is the number of counts that occur in 2*TM
sec. Multiply the
speed by 2*TM
sec to obtain the maximum error. MR tests for absolute position. The MR command can
also be used when the specified motor is driven independently by an external device.
