
- iii -
8. Registers........................................................................................................................................... 28
8-1. Table of registers ....................................................................................................................... 28
8-2. Pre-registers.............................................................................................................................. 29
8-2-1. Writing to the operation pre-registers ................................................................................... 29
8-2-2. Cancel the pre-register operations....................................................................................... 30
8-2-3. Writing to the comparator pre-registers................................................................................ 30
8-2-4. Cancel the comparator pre-register data.............................................................................. 30
8-3. Description of the registers......................................................................................................... 31
8-3-1. PRMV (RMV) registers
(Feed amount, target position) ................................................... 31
8-3-2. PRFL (RFL) registers
(Initial speed)............................................................................. 31
8-3-3. PRFH (RFH) registers
(Operation speed)...................................................................... 31
8-3-4. PRUR (RUR) registers
(Acceleration rate)...................................................................... 31
8-3-5. PRDR (RDR) registers
(Deceleration rate)..................................................................... 32
8-3-6. PRMG (RMG) registers
(Speed magnification rate)......................................................... 32
8-3-7. PRDP (RDP) registers
(Ramping-down point)................................................................ 32
8-3-8. PRMD (RMD) registers
(Operation mode)....................................................................... 33
8-3-9. PRIP (RIP) registers
(Circular interpolation center position,
master axis feed amount)........................................................... 35
8-3-10. PRUS (RUS) registers
(S-curve acceleration range)...................................................... 35
8-3-11. PRDS (RDS) registers
(S-curve deceleration range)...................................................... 35
8-3-12. RFA register (Speed at amount correction)..................................................... 35
8-3-13. RENV1 register (Environment setting 1).............................................................. 36
8-3-14. RENV2 register (Environment setting 2).............................................................. 38
8-3-15. RENV3 register (Environment setting 3).............................................................. 40
8-3-16. RENV4 register (Environment setting 4).............................................................. 42
8-3-17. RENV5 register (Environment setting 5).............................................................. 44
8-3-18. RENV6 register (Environment setting 6).............................................................. 45
8-3-19. RENV7 register (Environment setting 7).............................................................. 45
8-3-20. RCUN1 register (COUNTER1 <command position>)........................................... 46
8-3-21. RCUN2 register (COUNTER2 <mechanical position>)......................................... 46
8-3-22. RCUN3 register (COUNTER3 <deflection counter>)............................................ 46
8-3-23. RCUN4 register (COUNTER4 <general-purpose counter>) ................................. 46
8-3-24. RCMP1 register (Comparison data for Comparator 1) ......................................... 47
8-3-25. RCMP2 register (Comparison data for Comparator 2) ......................................... 47
8-3-26. RCMP3 register (Comparison data for Comparator 3) ......................................... 47
8-3-27. RCMP4 register (Comparison data for Comparator 4) ......................................... 47
8-3-28. RCMP5 register (Comparison data for Comparator 5) ......................................... 47
8-3-29. RIRQ register (Specify event interruption cause) ............................................. 48
8-3-30. RLTC1 register (COUNTER1 latch data)............................................................ 48
8-3-31. RLTC2 register (COUNTER2 latch data)............................................................ 48
8-3-32. RLTC3 register (COUNTER3 latch data)............................................................ 49
8-3-33. RLTC4 register (COUNTER4 latch data)............................................................ 49
8-3-34. RSTS register (Extension status)..................................................................... 50
8-3-35. REST register (Error INT status)...................................................................... 51
8-3-36. RIST register (Event INT status)..................................................................... 52
8-3-37. RPLS register (Number of pulses left for feeding)............................................ 52
8-3-38. RSPD register (EZ counter, current speed monitor) .......................................... 53
8-3-39. RSDC register (Automatically calculated ramping-down point).......................... 53
8-3-40. PRCI (RCI) registers (Number of steps for interpolation) ............................................ 53
8-3-41. RCIC register (Circular interpolation step number counter) ............................. 53
8-3-42. RIPS register (Interpolation status)................................................................. 54