Omron TJ1-DRT Hardware Reference Manual page 26

System philosophy
Origin search
The encoder feedback for controlling the position of the motor is
incremental. This means that all movement must be defined with
respect to an origin point. The DATUM command is used to set up
a procedure whereby the TJ1-MC__ goes through a sequence and
searches for the origin based on digital inputs and/or Z-marker from
the encoder signal.
Print registration
The TJ1-MC__ can capture the position of an axis in a register
when an event occurs. The event is referred to as the print
registration input. On the rising or falling edge of an input signal,
which is either the Z-marker or an input, the TJ1-MC__ captures
the position of an axis in hardware. This position can then be used
to correct possible error between the actual position and the
desired position. The print registration is set up by using the
REGIST command.
The position is captured in hardware, and therefore there is no
software overhead and no interrupt service routines, eliminating the
need to deal with the associated timing issues.
Merging moves
If the MERGE axis parameter is set to 1, a movement is always
followed by a subsequent movement without stopping. The figures
show the transitions of two moves with MERGE value 0 and value
1.
In the figure, A is the time axis and B is the speed axis.
Jogging
Jogging moves the axes at a constant speed forward or reverse by
manual operation of the digital inputs. Different speeds are also
selectable by input. Refer to the FWD_JOG, REV_JOG and
FAST_JOG axis parameters.
HARDWARE REFERENCE MANUAL
fig. 14
B
MERGE=0
B
MERGE=1
A
A
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