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RE
Registration Enable
Type
Registration
Syntax
<a_><!>RE<b>
Units
b = 0 (disable), 1 (enable)
Range
n/a
Default
0
Response
RE:
*RE0
See Also
[ AS ], COMEXC, [ ER ], INFNC, [ PCC ], [ PCE ], [ PCMS ],
REG, REGLOD, REGSS, TAS, TER, TPCC, TPCE, TPCMS, TRGLOT,
[ TRIG ], TTRIG
The
command enables the registration feature. When a registration input (an input assigned the "Trigger
RE
Interrupt" function with the
INFNCi-H
is replaced by a registration profile with its own distance (
), and velocity (
) values. The registration move may interrupt any preset (
ADA
V
registration move in progress.
The registration move does not alter the rest of the program being executed when registration occurs, nor
does it affect commands being executed in the background if the Gem6K is operating in the continuous
command execution mode (
COMEXC1
Registration moves will not be executed while the motor is not performing a move, while in the joystick
mode (
), or while decelerating due to a stop, kill, soft limit, or hard limit.
JOY1
How to Set up a Registration Move
1. Use the
INFNC1-H
(
or
, respectively).
TRIG A
TRIG B
2. Specify the distance of the registration move with the
refers to the encoder position. For stepper axes, the distance refers to commanded position.
3. Enable the registration function with the
there is a non-zero distance specified by the
NOTE: The registration move is executed using the
effect when the
REG
Registration Move Accuracy
The accuracy of the registration move distance specified with the
axes: encoder count; stepper axes: commanded count )
RULE OF THUMB: To prevent position overshoot, make sure the
multiplied by the incoming velocity.
The lapse between activating the registration input and commencing the registration move (this does
not affect the move accuracy) is less than one position sample period (2 ms).
The
distance will be scaled by the distance scale factor (
REG
(
). See page
16
SCALE1
Preventing Unwanted Registration Moves (methods)
• Registration Input Debounce: By default, the registration inputs are debounced for 24 ms before
another input on the same trigger is recognized. (The debounce time is the time required between
an input's initial active transition and its secondary active transition.) If your application requires a
shorter debounce time, you can change it with the
• Registration Single-Shot: The
any registration commands after the first registration move has been initiated. Refer to the
command description for further details and an application example.
command) is activated, the motion profile currently being executed
).
or
command to configure onboard input 1 or 2 as a trigger input
INFNC2-H
, the
TRIG M
MASTER TRIGGER
command. Registration is performed only when
RE1
REG
command was entered.
(see also Registration Move Status below)
for details on scaling.
command allows you to program the Gem6K drive to ignore
REGSS
www.comoso.com
), acceleration (
&
), deceleration (
REG
A
AA
), continuous (
MC0
, may not be used for registration.
command. For servo axes, the distance
REG
command.
,
,
,
, and
values that were in
A
AA
AD
ADA
V
command is ±1 count (servo
REG
distance is greater than 4 ms
REG
value) if scaling is enabled
SCLD
command.
TRGLOT
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
&
AD
), or
MC1
REGSS
243
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