Omron GRT1-ML2 Hardware Reference Manual page 191

Hardware reference
3.10.8 Stepper
The TJ1-FL02 can generate pulses to drive an external stepper motor
amplifier. You can use single step, half step and micro-stepping drivers with
this interface. Applicable signals:
• Enable
• Step
• Direction.
Related BASIC commands
The following BASIC commands are related to stepper outputs:
• ATYPE (ATYPE=43)
• INVERT_STEP
For more information, refer to the Trajexia Programming Manual.
3.10.9 Registration
The TJ1-FL02 can capture the position of an axis in a register when an
event occurs. The event is called the print registration input. On the rising or
falling edge of an input signal (either the Z marker or an input), the TJ1-FL02
captures the position of an axis in hardware. You can use this position to
correct possible errors between the actual position and the desired position.
You set up the print registration with the REGIST command.
The position is captured in hardware and therefore there is no software
overhead. This eliminates the need to deal with timing issues.
Because the registration inputs are very fast, they are susceptible to noise in
combination with slow rising and falling edges. To counter this problem, you
can use a digital noise filter. Use of the noise filter increases the response
time from 0.5 µs to 3.5 µs.
We refer to the REGIST command in the Trajexia Programming Manual for
more information on using the registration inputs.
HARDWARE REFERENCE MANUAL
fig. 124
ENABLE
STEP
DIRECTION
WDOG=ON MOVE(4) MOVE(-4)
186