20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
SMD23E2 and SMD24E2 User’s Manual
M
OTION
C
ONTROL
33
Basic Move Types (continued)
CW/CCW Registration Move
Similar to a Jog Move, a Registration Move will travel in the programmed direction as long as the command
is active. CW Registration Moves increase the motor position count while the CCW Registration Moves
decrease the motor position count. When the command terminates under Controlled Stop conditions, the
SMD23E2 or SMD24E2 will output a programmed number of steps as part of bringing the move to a stop.
Note that all position values programmed with a Registration Move are relative values, not absolute machine
positions.
Figure R2.9 Registration Move
If the Programmed Number of Steps are less than the number of steps needed to bring the axis
to a stop based on the Programmed Speed and Deceleration values set with the command, the
SMD23E2 and SMD24E2 will decelerate at the programmed Deceleration value until it has
output the Programmed Number of Steps and then stop the move without further deceleration.
An additional feature of the Registration Moves is the ability to program the driver to ignore the Controlled
Stop conditions until a minimum number of steps have occurred. This value is programmed through the Min-
imum Registration Move Distance parameter, which is set when you command the Registration Move. The
figure below shows how the Minimum Registration Move Distance parameter affects when the Stop Condi-
tion is applied to the move. As shown in the second diagram, Controlled Stop conditions are level triggered,
not edge triggered. If a Controlled Stop Condition occurs before the Minimum Registration Move Distance is
reached and stays active, the move will begin its controlled stop once the Minimum Registration Move Dis-
tance is reached.
Figure R2.10 Min. Registration Move Distance
S
PEE
D
POSITION
Controlled
Stop Condition
SP
E
E
D
SP
E
E
D
POSITION
POSITION
Controlled
Stop Condition
Controlled
Stop Condition
