User guide
Chapter 5. Custom Profiling
183
Registration Move Status & Error Handling
Axis Status — Bit #28: This status bit is set when a registration move has been
initiated by any registration input (trigger). This status bit is cleared with the next GO
command.
AS.28 ...... Assignment & comparison operator — use in a conditional expression (see pg. 25).
TASF........ Full text description of each status bit. (see “Reg Move Commanded” line item)
TAS ......... Binary report of each status bit (bits 1-32 from left to right).
See bit #28.
Axis Status — Bit #30: If, when the registration input is activated, the registration
move profile cannot be performed with the specified motion parameters, the 6000 controller
will kill the move in progress and set axis status bit #30. This status bit is cleared with the
next GO command.
AS.3Ø ...... Assignment & comparison operator — use in a conditional expression (see pg. 25).
TASF........ Full text description of each status bit. (see “Preset Move Overshot” line item)
TAS ......... Binary report of each status bit (bits 1-32 from left to right).
See bit #30.
Further instructions
about handling error
conditions are
provided on page 30.
Error Status — Bit #10: This status bit may be set if axis status bit #30 is set. The
error status is monitored and reported only if you enable error-checking bit #10 with the
ERROR command (e.g., ERROR.1Ø-1). NOTE: When the error occurs, the controller with
branch to the error program (assigned with the ERRORP command). This status bit is cleared
with the next GO command.
ER.1Ø ...... Assignment & comparison operator — use in a conditional expression (see pg. 25).
TERF........ Full text description of each status bit. (see “Preset Move Overshot” line item)
TER ......... Binary report of each status bit (bits 1-32 from left to right).
See bit #10.
System Status — Bits #25-28: System status bits 25-28 are set when a registration
move has been initiated by trigger inputs A through D, respectively. This also indicates that
the positions of all axes has been captured. As soon as the captured information is transferred
or assigned/compared (see page 112), the respective system status bit is cleared (set to Ø).
SS ........... Assignment & comparison operator — use in a conditional expression (see pg. 25).
Operators for bits 25-28 are SS.25, SS.26, SS.27, and SS.28.
TSSF........ Full text description of each status bit. (see “Position Captured TRG-
n
”)
TSS ......... Binary report of each status bit (bits 1-32 from left to right).
See bits #25-28.
How to Set up a Registration Move
Before you can initiate a registration move, you must program these elements (refer also to the
programming examples below):
• Configure one of the trigger inputs (TRG-A through TRG-D) to function as a trigger
interrupt input; this is done with the INFNCi-H command, where i is the input bit
number representing trigger inputs A through D (input number assignments vary by
product – see page 112). NOTE: When configured as Trigger Interrupts, the triggers
cannot be affected by the input enable (INEN) command.
• Issue the INFEN1 command to enable the trigger interrupt/registration function defined
with the INFNCi-H command.
• Specify the distance of the registration move with the REG command; then you can
enable the registration function with the RE command. Registration is performed only
on the axis or axes with the registration function enabled, and with a non-zero distance
specified in the respective axis-designation field of the REG command; the other axes will
not be affected. Each trigger has a distinct move defined for each axis; therefore, with 4
trigger inputs and 4 axes available, 16 different registration moves can be stored.
NOTE: The registration move is executed using the A, AA, AD, ADA, and V values that
were in effect when the REG command was entered. Stepper products: The position
captured (motor or encoder) and the positioning mode (motor steps or encoder steps) used
for registration are determined upon the ENC command setting in effect when the
registration move was first defined with the REG command.