Omron trajexia CJ1W-MCH72, Operation Manual

Page: 319 / 374

How-to’s Section 5-1
308
5-1-6-6 Using registration in application programs
There is one axis command ( REGIST ), and two axis parameters ( MARK and
REG_POS ). With these commands and parameter, you can control and use
the registration functionality in BASIC programs.
•
REGIST captures the axis position when a registration signal is detected.
The available settings depend on the axis type. Refer to section 4-2-200.
• MARK is a flag that signals whether the position has been captured or not.
For the second registration input of the
Encoder Interface
, the parameter
MARKB is also available. For more information, refer to sections 4-2-152
and 4-2-153.
• REG_POS holds the captured axis position. Only if the MARK flag signals
that the position was captured successfully, you can regard the REG_POS
value as valid. For the second registration input of the
Encoder Interface
, the
parameter REG_POSB is also available. For more information, refer to
sections 4-2-198 and 4-2-199.
The picture gives the sequence of executing the commands and the
registrations of the sample program below.
BASE(N)
REGIST(0)
WAIT UNTIL MARK=0
loop:
WAIT UNTIL MARK=-1
PRINT "Position captured in: "; REG_POS
REGIST(0)
WAIT UNTIL MARK=0
GOTO loop
Position
t
Registration Input
REG_POS=xxx
The trigger is active
MARK=0
REGIST(0)
REGIST(0)
MARK=-1
MARK=-1 MARK=0 MARK=-1
REG_POS=Pos1 REG_POS=Pos1
The trigger is active
If the trigger is
not active,
the registration is
ignored The position
information is
available