Omron trajexia CJ1W-MCH72 Operation Manual page 317

How-to's
5-1-6-1 The REGIST axis command
5-1-6-2 Registration in the Sigma-II and Sigma-V Servo Driver
306
interrupted. Only the position of an axis is stored. This information can be
used, like other parameters or values, in a program. The registration
information is available to a program immediately after the registration.
The advantage of registration is that it is done very quickly. Therefore, the axis
position that is stored is very accurate. To achieve this speed and accuracy,
registration is implemented with hardware, and the registration input must be
on the same board as the encoder input that provides information on the axis
position.
Capturing and storing the axis position is done in real time by the hardware.
Processing this information is done not in real time by the application program.
In Trajexia, you do a registration with the REGIST axis command. This
command takes one argument. This argument determines which external
input is registered, whether the registration is executed on the rising edge or
on the falling edge of the input signal, whether the windowing function is used,
and other options. For more information on the REGIST command, refer to
section 4-2-200.
The registration differs for different axes depending on their connection to the
system. If an axis is connected via the MECHATROLINK-II bus, the
registration is done in the Servo Driver hardware. If an axis is connected via
the , the registration is done in the hardware of the CJ1W-
Encoder Interface
MCH72.
The different registrations are described below.
Registration in the Sigma-II and Sigma-V Servo Driver occurs when an axis
assigned to this Servo Driver is connected to the Trajexia system via the
MECHATROLINK-II bus. There are three registration inputs on these Servo
Drivers, but only one hardware latch, so only one input can be used at a time.
For Sigma-II Servo Drivers the physical inputs are in pins CN1-44, CN1-45
and CN1-46 on the 50-pins CN1 connector. For Sigma-V Servo Drivers the
physical inputs are in pins CN1-10, CN1-11 and CN1-12 on the 26-pins CN1
connector. Trajexia uses logical inputs EXT1, EXT2 and EXT3 to associate the
physical inputs to logical ones. This association is done by setting the
parameter Pn511 of the Servo Driver. For more information on setting this
association and Pn511 parameter, refer to section 4-2-200, table 1. The input
used for registration is determined by the argument of the REGIST command.
Position
Latch input
Interpolated
position
62.5µs
Section 5-1
t