Omron trajexia CJ1W-MCH72 Operation Manual page 319

How-to's
5-1-6-6 Using registration in application programs
308
There is one axis command (REGIST), and two axis parameters (MARK and
REG_POS). With these commands and parameter, you can control and use
the registration functionality in BASIC programs.
• REGIST captures the axis position when a registration signal is detected.
The available settings depend on the axis type. Refer to section 4-2-200.
• MARK is a flag that signals whether the position has been captured or not.
For the second registration input of the
MARKB is also available. For more information, refer to sections 4-2-152
and 4-2-153.
• REG_POS holds the captured axis position. Only if the MARK flag signals
that the position was captured successfully, you can regard the REG_POS
value as valid. For the second registration input of the
parameter REG_POSB is also available. For more information, refer to
sections 4-2-198 and 4-2-199.
Position
The trigger is active
REGIST(0)
MARK=-1 MARK=0
REG_POS=xxx
Registration Input
The picture gives the sequence of executing the commands and the
registrations of the sample program below.
BASE(N)
REGIST(0)
WAIT UNTIL MARK=0
loop:
WAIT UNTIL MARK=-1
PRINT "Position captured in: "; REG_POS
REGIST(0)
WAIT UNTIL MARK=0
GOTO loop
, the parameter
Encoder Interface
Encoder Interface
The trigger is active
The position If the trigger is
information is not active,
available the registration is
ignored
MARK=-1
MARK=-1
REG_POS=Pos1
REG_POS=Pos1
Section 5-1
, the
t
REGIST(0)
MARK=0