User guide

186 6000 Series Programmer's Guide
Registration – Sample Application 3
A print wheel uses registration to initiate each print cycle. From the beginning of motion,
the controller should ignore all registration marks before traveling 2000 steps. This is to
ensure that the unit is up to speed and that the registration mark is a valid one.
DEL REGI3 ; Delete program (in case program already resides in memory)
DEF REGI3 ; Begin program definition
INFEN1 ; Enable input functions
INFNC25-H ; Trigger capture mode for trigger A (input #25)
RE1 ; Enable registration
V2 ; Set registration move to a velocity of 2 rps
REGA2500 ; and a distance of 2500 steps
REGLOD2000 ; Set registration lockout distance to 2000 steps
MC1 ; Start a mode continuous
V1 ; move at a velocity of 1 rps
GO1 ; Initiate motion
END ; End program definition
v
t
0
1
2
1st Registration
mark occurs after
1500 steps, but
the registration
move does not
occur because
the lockout
distance is set to
2000 steps.
2nd Registration
mark occurs after
3000 steps.
Synchronizing Motion (GOWHEN and TRGFN operations)
GOWHEN and TRGFN allow you to synchronize the execution of motion on one or more axes:
• GOWHEN — synchronize execution of the subsequent start-motion command (GO, GOL,
FSHFC, or FSHFD) to:
- Position (commanded, feedback device, motor, master, slave, Following shift)
- Master cycle number
- Input status
- Time delay (dwell)
• TRGFN:
- Suspend execution of the next start-motion command (GO, GOL, FSHFC,
or FSHFD) until the specified trigger input goes active.
- Suspend beginning a new Following master cycle until the specified trigger
input goes active.
Conditional “GO”s (GOWHEN)
The GOWHEN command is used to synchronize a motion profile of an axis with a specified
position count, input status, dwell (time delay), or master cycle number on that axis or other
axes. Command processing does not wait for the GOWHEN conditions (relational expressions)
to become true during the GOWHEN command. Rather, the motion from the subsequent start-
motion command (GO, GOL, FSHFC, and FSHFD) will be suspended until the condition
becomes true.
Start-motion type commands that cannot be synchronized using the GOWHEN command are:
HOM, JOG, JOY, and PRUN. A preset GO command that is already in motion can start a new
profile using the GOWHEN and GO sequence of commands. Continuous moves (MC1) already in
progress can change to a new velocity based upon the GOWHEN and GO sequence. Both preset
and continuous moves can be started from rest with the GOWHEN and GO sequence.