Examples and tips
PROGRAMMING MANUAL
294
R
e
vi
si
o
n
1
.0
3. The position is captured and transmitted to the Trajexia processor.
4. Is the captured position inside the inclusive window or outside the
exclusive window?
•
If yes,
MARK
= -1 and
REG_POS
is updated.
•
If not, return to point 2 (trigger the latch again transparently to the
user).
fig. 36
The figure shows the sequence of execution of the above commands and
the occurrence of registration events when you use inclusive windowing.
There are delays between these events:
•
Trajexia receives the latch.
•
Trajexia decides to trigger the latch again.
•
The latch is triggered.
Because of these delays, there is an uncertainty in the edges of the window
when marks may be detected near the edges. This is more notable for axes
connected to the system via the MECHATROLINK-II bus due to bus delays.
To compensate for these delays, a user must set the window margins large
enough.
Position
t
Registration Input
REG_POS=xxx
The trigger is active
MARK=0
REGIST(0)
REGIST(0)
MARK=-1
MARK=0
MARK=0
MARK=-1
REG_POS=Pos1
REG_POS=XXX
The trigger is active
No Registration, the position
is outside the window
CLOSE_WIN
OPEN_WIN
