Omron TJ2-MC64 - PROGRAMMING Programming Manual page 177

BASIC commands
3.2.241 REGIST
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Type Axis command
Syntax REGIST(mode)
Description The REGIST command sets up the registration operation. The command
captures an axis position when a registration signal is detected. With a TJ1-
FL02 the capture is done by the hardware, so software delays do not affect
the accuracy of the position that is captured. With a MECHATROLINK-II axis,
the capture is done by the Servo Drive.
With a TJ1-FL02, a REGIST command can capture two registration positions
using separate registration inputs. When a primary registration event has
occurred, the MARK axis parameter is set to ON and the position is stored in
the REG_POS axis parameter. For the secondary registration event, the
MARKB axis parameter is set to ON and the position is stored in the
REG_POSB axis parameter. MARKB and REG_POSB are applicable only to
axes with ATYPE values 43, 44 and 45.
MECHATROLINK-II registration can be performed using encoder Z-marker
or external registration inputs EXT1, EXT2 or EXT3 on a Servo Drive. When a
registration event has occurred, the MARK axis parameter is set to ON and
the position is stored in the REG_POS axis parameter.
For Sigma-II and Sigma-V Servo Drives the registration signals EXT1, EXT2
and EXT3 must be allocated to CN1 inputs with the Drive parameter Pn511.
For example Pn511=654x sets the connections of EXT1 to pin CN1-44, EXT2
to pin CN1-45 and EXT3 to pin CN1-46 of the Sigma-II Servo Drive.
For Junma Servo Drives only one physical input is available, so no settings
of Servo Drive parameters are necessary.
For G-Series Servo Drives there are three physical inputs. The physical input
is associated to logical latch EXT1, EXT2 and EXT3, but the corresponding
locations on the CN1 connector are fixed, so no settings of Servo parameters
are necessary.
For G5-Series Servo Drives the registration signals EXT1, EXT2 and EXT3
must be allocated to CN1 inputs with the Drive parameters Pn400 to Pn407.
Unlike the other Servo Drives, G5-Series Servo Drives can capture two regis-
tration positions like Flexible Axis axes. For the secondary registration event,
the MARKB axis parameter is set to ON and the position is stored in the
REG_POSB axis parameter.
PROGRAMMING MANUAL
Note
For the mapping of the registration signals of the specific Servo
Drives, refer to section 5.1.6.
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Inclusive windowing lets the registration to occur only within a specified win-
dow of axis positions. With this windowing function, registration events are
ignored if the axis measured position is not greater than the OPEN_WIN axis
parameter, and less than the CLOSE_WIN parameter.
Exclusive windowing allows the registration to occur only outside of the speci-
fied window of axis positions. With this windowing function, the registration
events are ignored if the axis measured position is not less than the
OPEN_WIN axis parameter, and greater than the CLOSE_WIN parameter.
Arguments • mode
The mode parameter specifies the registration input and event for use and the
signal edge the registration event occurs. The mode parameter also specifies
the use of the windowing function and filtering.
The mode parameter differs between MECHATROLINK-II and Flexible Axis.
The function of each bit in the mode parameter is explained in the tables
below.
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Bit Function (MECHATROLINK-II)
Note: secondary registration only supported by G5-Series
1, 0 Primary registration occurs for:
• 00: Z-mark of the encoder
• 01: EXT1 input
• 10: EXT2 input
• 11: EXT3 input
2 Set this bit to use primary registration event
3 Not used
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