User guide

78 www.controltechniques.com SM-EZMotion Module User Guide
Registration to Analog Input Value
If Analog In is selected, the value of the drive Analog Input
is used as the registration signal.
When the value of the analog input reaches a value that
satisfies the comparison operator, the sensor trigger will
activate. Units for the registration value will match the units
configured on the Analog Inputs screen when Analog In
selected.
Registration Offset
The incremental distance the motor will travel after a valid
registration sensor or analog limit value has been detected.
This is a signed parameter; so if an index is travelling in the
negative direction, the offset needs to be negative and
continue in the same direction. If the registration offset is
zero or less than the decel distance shown on the
calculations tab, the motor will decelerate at the
programmed rate and then back up to the specified offset
distance from the trigger position.
Enable Registration Window
This check box enables (if checked) the Registration
Sensor Valid Window. When active, only registration
marks that occur inside the registration window are seen as
valid.
Window Start
This parameter defines the start of the Registration Sensor
Valid Window relative to start position of this index. This is
an unsigned value and is relative only to starting position of
this index. Index direction does not affect this parameter.
The Registration Window Start position (or distance)
should be less than the Registration Window End position.
If a registration sensor is seen outside of this window (not
between the WindowStart and WindowEnd positions) then
it will be ignored.
Window End
This parameter defines the end of the Registration Sensor
Valid Window relative to start position of this index. This is
an unsigned value and is relative only to starting position of
this index. Index direction does not affect this parameter.
The Registration Window End position (or distance) should
be greater than the Registration Window Start position. If a
registration sensor is seen outside of this window (not
between the WindowStart and WindowEnd positions) then
it will be ignored.
Example:
Index 0 is defined as a Registration type of index. The user
wants the index to run at velocity for 10 Revs, or until the
Torque Feedback reaches 50% continuous torque and
then continue for another 0.5 Revs.
In the Limit Distance parameter, enter 10.0.
On the registration tab, select the Analog radio button.
In the analog list box, select Torque Command
In the comparison operator list box, select ">"
In the analog value parameter, enter 50 (Units are
established on the User Units view)
In the Registration Offset parameter, enter 1.5
This index would accelerate up to its' target velocity, and
run at speed until one of the following:
The Limit Distance is approaching, and the index decels
down to zero velocity, completing the move at the Limit
Distance. At this point, the Index.#.LimitDistHit source
would activate.
Or,
The Torque Command reaches or exceeds 50%
continuous, and the index continues at speed before
decelerating to zero velocity at the registration point plus
the Registration Offset distance.
If the Registration Offset distance is in the opposite
direction from the move, or is so short that the motor
cannot stop in the specified distance at the programmed
deceleration rate, the motor will decelerate with the
programmed ramp, and then back-up to the specified
position (registration point + the Registration Offset).
Index Sources and Destinations
Sources
Index.AnyCommandComplete - Active when any index
motion command is completed. If a stop is activated before
the index has completed, this destination will not activate.
Deactivated when any new index command is initiated.
Index.#.Accelerating - This source is active while an index
is accelerating to its' target velocity. Once the index
reaches the target velocity, or begins to decelerate, the
Index.#.Accelerating source will deactivate.
Index.#.AtVel - This source activates when the target index
velocity is reached. If Feedrate override is changed or
FeedHold is activated AtVelocity shall remain active.
Index.#.AtVel will deactivate at the start of any deceleration
or acceleration. During a synchronized index, this source
could be active even without any motor motion if the master
axis stops.
Index.#.Command Complete - The
Index.#.CommandComplete source will activate when the
specific index completes its deceleration ramp. It will
remain active until the specific index is initiated again. If the
drive stop destination is used during an Index, then the
Index.#.CommandComplete will not activate.
Index.#.Command In Progress - The
Index.#.CommandInProgress source is active throughout
an entire index profile. The source activates at the
beginning of the index acceleration ramp, and deactivates
at the end of the index deceleration ramp. During a
synchronized index, this source could be active even
without any motor motion if the master axis stops.
Index.#.Decelerating - This source is active while an index
is decelerating from its' target velocity. Once the index
reaches zero velocity, or its' next target velocity, the