Omron TJ2-MC64 - PROGRAMMING Programming Manual page 300

Examples and tips
3. The position is captured and transmitted to the Trajexia processor.
4. Is the captured position inside the inclusive window or outside the
exclusive window?
• If yes, MARK = -1 and REG_POS is updated.
• If not, return to point 2 (trigger the latch again transparently to the
user).
The figure shows the sequence of execution of the above commands and
the occurrence of registration events when you use inclusive windowing.
There are delays between these events:
• Trajexia receives the latch.
• Trajexia decides to trigger the latch again.
• The latch is triggered.
Because of these delays, there is an uncertainty in the edges of the window
when marks may be detected near the edges. This is more notable for axes
connected to the system via the MECHATROLINK-II bus due to bus delays.
To compensate for these delays, a user must set the window margins large
enough.
PROGRAMMING MANUAL
Position
CLOSE_WIN
OPEN_WIN
REGIST(0)
The trigger is active
MARK=-1 MARK=0
REG_POS=xxx
Registration Input
fig. 36
No Registration, the position
The trigger is active
is outside the window
REGIST(0)
MARK=-1
MARK=0
REG_POS=Pos1
REG_POS=XXX
t
MARK=0
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