Omron SYSMAC CJ Series, Operation Manual

Page: 238 / 371

All BASIC commands Section 4-2
226
4-2-197 REGIST
/i
/i
Type Axis command
Syntax REGIST(mode)
Description The REGIST command sets up the registration operation. The com-
mand captures an axis position when a registration signal is detected.
With an Encoder Interface the capture is done by the hardware, so soft-
ware delays do not affect the accuracy of the position that is captured.
With a MECHATROLINK-II axis, the capture is done by the Servo
Driver.
With an Encoder Interface, a
REGIST command can capture two regis-
tration positions using separate registration inputs. When a primary reg-
istration event has occurred, the
MARK axis parameter is set to ON and
the position is stored in the REG_POS axis parameter. For the second-
ary 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
Driver.
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 Drivers the registration signals EXT1,
EXT2 and EXT3 must be allocated to CN1 inputs with the driver param-
eter 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 Driver.
For Junma Servo Drivers only one physical input is available, so no set-
tings of Servo Driver parameters are necessary.
For G-Series Servo Drivers there are three physical inputs. The physical
input is associated to logical latch EXT1, EXT2 and EXT3, but the corre-
sponding locations on the CN1 connector are fixed, so no settings of
Servo parameters are necessary.
For Accurax G5 Servo Drivers the registration signals EXT1, EXT2 and
EXT3 must be allocated to CN1 inputs with the driver parameters Pn400
to Pn407. Unlike the other Servo Drivers, Accurax G5 Servo Drivers can
capture two registration positions like Flexible Axis axes. For the sec-
ondary registration event, the
MARKB axis parameter is set to ON and
the position is stored in the REG_POSB axis parameter.
Note For the mapping of the registration signals of the specific Servo Drivers, refer to section
5-1-6.
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.