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LEGEND-MC User’s Manual
MR (Motion Reverse)
[Trippoint]
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. The MR command can also be used when
the encoder is the master and not under servo control.
ARGUMENTS: MR x, y, z, w or MRX=x or MR a, b, c, d, e, f, g, h where
x, y z, w, or a, b, c, d, e, f, g, h are signed integers
USAGE:
While Moving
Yes
Minimum Value
-2147483648
In a Program
Yes
Maximum Value
2147483647
Command Line
Yes
Default Value
---
Can be Interrogated
No
Default Format
---
Used as an Operand
No
Distributed Control
Specific Axis
RELATED COMMANDS:
"AR"
Trippoint for after Relative Distance
"MF"
Forward motion to position
"AP"
Trippoint After absolute position
#TEST
Program B
DP0
Define zero
JG 1000
Jog mode (speed of 1000 counts/sec)
BG
Begin move
MR -3000
After passing the position -3000
V1=_TP
Assign current position to variable V1.
MG "Position is", V1
Print Message
ST
Stop
EN
End of Program
EXAMPLES:
NOTE: MR command accuracy is the number of counts that occur in 2 msec. Multiply speed by 2 msec to obtain maximum
error. MR tests for absolute position. The MR command can also be used when the specified motor is driven externally.
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