Danaher Motion B8961, Руководство оператора

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B8961 and B8962 User Manual
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In the program above,assume the input was an optical sensor which triggered on a
registration mark at a position of 4 user-units.The figure below shows the com-
manded move related to the registration mo ve.
Accompanying the programmable Registration Command is the configurable
Registration Input:G (also G in Serial Setup Commands).To configure a
Registration input from the k eypad, choose EDIT > SETUP > I/O > INPUTS.An
input configured as a Registration Input will be designated by a G on the keypad
input status display.The RG Command will only function if the corresponding
input has been configured as a Registration Input (see note).
Application Notes
• Registration Input is only configurable on input #1 for axis #1,and on input #2
for axis #2.
• The RG command cannot be used for both axes during simultaneous 2-axis
moves.When both axes are moving,only one Registation input will register and
function correctly.
Example:AC1 VE1 DI100 RG1 GI AC,1 VE,1 DI,100 RG,1 GI
This program is syntactically correct,but only the RG,1 will work.
System Performance when Using the RG (Registration) Command
The input capture delay is 5µs. Worst case position error is 9 steps at 50 rps.
There is a Capture Window (Position Lag) associated with the RG Command,which
is a function of move velocity and the Position Capture Delay (reaction time) and
can be calculated with the following equation:
Capture Window = RG Position Capture Delay * Velocity (Steps/Sec)
The Capture Window value is the number of steps accumulated between the falling
edge of the Registration input and the time the current position is captured.
Depending on the FPGA hardware version of your Indexer this RG Position
Capture Delay will either be 164 µs or 5 µs.
The Registration Command is only a vailable on firmware version 4.0 & higher. If
you have FPGA version 5.9 or earlier, the Capture Delay will be 164 µs.If you have
FPGA 6.7 or higher, the position is captured in hardware,and the only Capture
Delay is the input’s opto-isolator (5 µs).Use the keypad’s HELP key to determine
your FPGA version.
Regardless of the FPGA version used, we have found both Capture Delays to be
extremely repeatable.This leads to a very repeatable Capture Window (distance lag
from when the registration input is made) that can be accounted for by decreasing
your commanded registration distance by the Capture Window. For example, a
motor traveling 240,000 steps/sec (30 rps with 8000 step/rev drive resolution) has
a capture window of 39 steps for a 164 µs Capture Delay and 1 step for a 5 µs
Capture Delay.Assuming the desired registration distance was 3 user units (assum-
ing 1 user unit is 8000 motor steps),an RG2.9795 would result in the motor travel-
ing exactly 3 user units for a unit with a 164 µs Capture Delay.