Position

Unit: Pulses

P1-P25

Min: -1000000000

Max: 1000000000

P registers define target positions as measured in pulses. 

P5.1=1000

Set position 5 in motor 1 to 1000.

Speed

Unit: Pulses per Second

(see K37)

S1-S15

Min:-5000000

Max: 5000000

S registers define the target speed in a unit defined in parameter K37 . 

S2.1=430

Set speed 2 in motor 1 as 430.

Acceleration

Unit: Thousand Pulses per  

         Second Squared

A1-A8

Min:-32767

Max:32767

A registers define the target acceleration in thousands of pulses per second squared.  

A8.1=50

Sets acceleration 8 in motor 1 as 50.

Timer

Unit: millisecond

T1-T8

Min: 0

Max: 32767

T registers define a timer in milliseconds. This timer can be called in program or logic banks to wait for the specified amount of time.   

T1.1=25000

Sets timer 1 in motor 1 to 25000 (25s).

Torque

Unit: Percent of Peak torque

M1-M8

Min: 0

Max: 100

M registers define the torque limit for a move, as measured in a percentage of the motors peak torque.    

M2.1=80

Sets the torque register 2 in motor 1 as 80%.

Variable Data

Unit: -

V1-V15

Min: -2147483648

Max: 2147483647

Variable registers serve a number of purposes. Variable can be set to use current motor states as well as predefined numbers and text strings.

When using the motor state variables or text strings, these must be defined using quotations.

 ”Px”  –   Motor position

 ”Sx” –  Motor speed

 “Ix”  –  Motor Iq (current) value

 “Ux” – Motor Status (see Status and Error Codes)

 “Pe”  –  Position error

 “Pt”  –  Target Position

 “Ain4”  –  Analog input value (see Analog Input)

 “St”  –  Target Speed

 “Fx”  –  Frequency Counter (see counters)

 “Cx”  –  Counter (see counters)

 “Cx2”, “Cx3”, “Cx4”  –  Slow counter (see counters)

 “AO2”  –  Analog output

 “abcd”  – String – four character max

 1234  –  long integer

A comprehensive list and description of the internal
state variables can be found under Internal Variables.

V2.1=”Px”

V3.1=”abcd”

V8.1=5432

Sets variable two in motor one as current position.

Sets variable three in motor one as text string “abcd”.

Sets variable eight in motor one as 5432.

Center Point

Unit: Pulses

N1-N25

Min: -2147483648

Max: 2147483647

 N registers are used to define the center point of a circle when using two motors in a coordinated motion system. For more information see coordinated motion. 

Can also be used as general purpose variable if coordinated motion is not used.  

N12.1=1375

Sets center point data 12 in motor 1 to 1375.

Radius

Unit: Pulses

R1-R25

Min: -1000000000

Max: 1000000000

R registers are used to define the radius of a circle when using two motors in a coordinated motion system. For more information see coordinated motion. 

Can also be used as general purpose variable if coordinated motion is not used. 

R5.1=25000

Sets radius data five in motor one to 25000.