Omron trajexia CJ1W-MCH72 Operation Manual page 238

All BASIC commands
4-2-200 REGIST
/i
Type Axis command
Syntax REGIST(mode)
Description The REGIST command sets up the registration operation. The com-
mand captures an axis position when a registration signal is detected.
With an Encoder Interface the capture is done by the hardware, so soft-
ware delays do not affect the accuracy of the position that is captured.
With a MECHATROLINK-II axis, the capture is done by the Servo
Driver.
With an Encoder Interface, a REGIST command can capture two regis-
tration positions using separate registration inputs. When a primary reg-
istration event has occurred, the MARK axis parameter is set to ON and
the position is stored in the REG_POS axis parameter. For the second-
ary registration event, the MARKB axis parameter is set to ON and the
position is stored in the REG_POSB axis parameter. MARKB and
REG_POSB are applicable only to axes with ATYPE values 43, 44 and
45.
MECHATROLINK-II registration can be performed using encoder Z-
marker or external registration inputs EXT1, EXT2 or EXT3 on a Servo
Driver. Unlike Flexible axis axes, only one registration position can be
captured. When a registration event has occurred, the MARK axis
parameter is set to ON and the position is stored in the REG_POS axis
parameter.
The registration signals EXT1, EXT2 and EXT3 must be allocated to
CN1 inputs with the driver parameter Pn511. For example Pn511=654x
sets the connections of EXT1 to CN1 pin44, EXT2 to CN1 pin45 and
EXT3 to CN1 pin46 of the Sigma II Servo Driver.
The table below shows how to configure the external inputs individually.
Note: To configure EXT1, EXT2 and EXT3 registration signals parame-
ter numbers Pn511.1, Pn511.2 and Pn511.3 are used respectively.
Pn511.0 is not used. Refer to the user manual of the Servo Driver for
more details.
/i
Registra- Parameter
tion signal number
EXT 1 Pn511.1
EXT 2 Pn511.2
EXT 3 Pn511.3
Parameter
value
0 to 3 Not used
4 Input from CN1 pin44 (Rising edge)
5 Input from CN1 pin45 (Rising edge).
6 Input from CN1 pin46 (Rising edge).
7 Signal always OFF.
8 Signal always ON.
9 to C Not used
D Input from CN1 pin44 (Falling edge).
E Input from CN1 pin45 (Falling edge).
F Input from CN1 pin46 (Falling edge).
As for EXT 1 As for EXT 1
As for EXT 1 As for EXT 1
Section 4-2
Description
227