Download Optima Series COMMAND REFERENCE

MR (Binary CC)
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
No
Default Value
In a Program
Yes
Default Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
"AD (Binary CD)" on page 15
Trippoint for Relative Distances
"AP (Binary CE)" on page 21
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 "Posit ion is", V1= ST
Print Message Stop
EN
End of Program
Hint: The accuracy of the MR command is the number of counts that occur in 2 msec. Multiply the
speed by 2 msec 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.
128 i MR (Binary CC)
Optima Series Command Reference