Installation guide

Programming Commands 129
MOVEREG Motion Parameter
ACTION: Runs the motor until the mark registration input is activated; then moves
the motor the desired registration distance.
PROGRAM SYNTAX: MOVEREG(axis)=expression
MOVEREG=expression1, ... , expression 8
MOVEREG(axis, ... ,axis)=expression, ... , expression
REMARKS: The axis specifies the number of the axis (1-8).
The expression represents the incremental distance to move after a reg-
istration trigger has occurred. The sign of the expression determines the
direction (positive or negative) of motion for the registration cycle.
The registration trigger can be the EVENT1 input, EVENT2 input and/or
Encoder marker state. This trigger is defined in the user program Con-
figuration and Setup, and also by the EVENT1 or EVENT2 command
if they have been executed prior to the MOVEREG.
The Registration Travel Limit, which is set by command REGLIMIT,
limits the distance that the motor will rotate if no trigger occurs. A
REGLIMIT setting of 0, sets no limit for motor rotation while awaiting a
trigger. THIS IS THE CONDITION AFTER POWER UP OR
RESET. The motor speed during a MOVEREG move is set by the
SPEED command. When the registration trigger occurs, the registration
distance is checked to determine if the motion can be stopped in the given
distance. If it can not, then the motion will be stopped using the project's
Configuration and Setup setting for Max. ACCEL, and an error code 7
is set. This error can be eliminated by increasing the registration dis-
tance, decreasing the speed or increasing the deceleration.
The captured absolute position can be monitored by the CAPPOS com-
mand.
Prior to starting a MOVEREG motion the appropriate trigger input
(EVENT1 or EVENT2) is checked to see if it has already been trig-
gered. If the trigger has already occurred, an incremental move of the
distance specified by the expression to the right of the MOVEREG will
occur.
A MOVEREG can be started with its trigger disabled (except for the
two encoder index marker selections). The registration trigger may then
be enabled later by an EVENT1 or EVENT2 command.