Character: r
Decimal: 114
Hexadecimal: 0x72
Command Value: Unused
This command restores a previously saved Integral Drive value. The Integral Drive value that is restored is taken from a buffer internal to the RMC that is set using the Save Integral Drive command. The Integral Drive will be set to 0 if no previous Save Integral Drive command was issued. The Save/Restore Integral Drive pair can be used to unwind the integrator while in the middle of a move.
For example, suppose the integral drive is saved while the move is taking place. If during the move, the axis gets stuck and the integrator winds up, then the integral drive can be restored after the cause of the stall is fixed to avoid an overshoot.
For alternative ways to unwind the integrator, see the Set Integral Drive and Set Integral Drive to Null Drive commands.
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