User manual OMRON TJ1-MC04 PROGRAMMING 1

[. . . ] I52E-EN-03 Trajexia motion control system TJ1-MC04 TJ1-MC16 programming manual Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Failure to heed precautions can result in injury to people or damage to property. /i Definition of precautionary information DANGER Indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury. Caution Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury, or property damage. © OMRON, 2007 Trademarks and Copyrights PROFIBUS is a registered trademark of PROFIBUS International. DeviceNet is a registered trademark of Open DeviceNet Vendor Assoc INC. [. . . ] AXIS, MARK, REGIST. 3. 2. 219 REGIST /i Type Syntax Description Axis command REGIST(mode) 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. Flexible Axis, 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. This command is applicable only to flexible axis 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. Unlike Flexible axis axes, only one registration position can be captured. 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. The REGIST command enables a record of one registration event on the particular registration input. 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. The registration signals EXT1, EXT2 and EXT3 must be allocated to CN1 inputs with the driver parameter Pn511. For example Pn511=654x sets the connections of EXT1 to CN1 pin44, EXT2 to CN1 pin45 and EXT3 to CN1 pin46. The table below shows how to configure the external inputs individually. Note: To configure EXT1, EXT2 and EXT3 registration signals parameter numbers Pn511. 1, Pn511. 2 and Pn511. 3 are used respectively. Refer to the user manual of the Servo Driver for more details. 3. 2. 218 REG_POSB /i Type Syntax Description Arguments Example See also Axis parameter (read-only) REG_POSB The REG_POSB parameter stores the position in user units at which the secondary registration event occurred. N/A PRINT REG_POSB AXIS(2) This will print registration position in user units for axis 2. AXIS, MARKB, REGIST. Revision 3. 0 PROGRAMMING MANUAL 128 BASIC commands /i RegistraParameter tion signal number EXT 1 Pn511. 1 Parameter value 0 to 3 4 5 6 7 8 9 to C D E F EXT 2 EXT 3 /i Inclusive windowing lets the registration to occur only within a specified window 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 specified 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. [. . . ] MECHATROLINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PROFIBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Trajexia Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . User-defined . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [. . . ]