Specifications

Examples and tips
PROGRAMMING MANUAL 253
Revision 5.0
Static origin search, forcing a position from an absolute encoder
This origin search procedure sets the actual position to the position of an
absolute encoder. It does not perform any physical move. It is only possible
with an axis with an absolute encoder in a control loop.
5.1.6 Registration
Registration, also called ‘latch’ or ‘print registration’, is about real-time
storing of the position of an axis when an external input is activated. The
information that is registered, i.e. stored, is processed later, not in real time,
by the application program.
Registration is different from processing an interrupt input or signal. With
registration, no event is generated when the registration input is activated.
Also, the normal execution of the application program is not disturbed or
interrupted. Only the position of an axis is stored. This information can be
used, like other parameters or values, in a program. The registration
information is available to a program immediately after the registration.
The advantage of registration is that it is done very quickly. Therefore, the
axis position that is stored is very accurate. To achieve this speed and
accuracy, registration is implemented with hardware, and the registration
input must be on the same board as the encoder input that provides
information on the axis position.
Capturing and storing the axis position is done in real time by the hardware.
Processing this information is done not in real time by the application
program.
The REGIST axis command
In Trajexia, you do a registration with the REGIST axis command. This
command takes one argument. This argument determines which external
input is registered, whether the registration is executed on the rising edge or
on the falling edge of the input signal, whether the windowing function is
used, and other options. For more information on the REGIST command,
refer to section 3.2.221.
The registration differs for different axes depending on their connection to
the system. If an axis is connected via the MECHATROLINK-II bus, the
registration is done in the Servo Driver hardware. If an axis is connected via
the Servo Driver analog interface and the TJ1-FL02, the registration is done
in the hardware of the TJ1-FL02.
The different registrations are described below.
Registration in the Sigma-II and Sigma-V Servo Driver
Registration in the Sigma-II and Sigma-V Servo Driver occurs when an axis
assigned to this Servo Driver is connected to the Trajexia system via the
MECHATROLINK-II bus. There are three registration inputs on these Servo
Drivers, but only one hardware latch, so only one input can be used at a
time. For Sigma-II Servo Drivers the physical inputs are in pins CN1-44,
CN1-45 and CN1-46 on the 50-pins CN1 connector. For Sigma-V Servo
Drivers the physical inputs are in pins CN1-10, CN1-11 and CN1-12 on the
26-pins CN1 connector. Trajexia uses logical inputs EXT1, EXT2 and EXT3
to associate the physical inputs to logical ones. This association is done by
setting the parameter Pn511 of the Servo Driver. For more information on
setting this association and Pn511 parameter, refer to the table below.
/i
Registra-
tion signal
Parameter
number
Parameter value Description
EXT 1 Pn511.1 0 to 3 Not used
4 Input from CN1 pin44 (Rising edge)
5 Input from CN1 pin45 (Rising edge).
6 Input from CN1 pin46 (Rising edge).
7 Signal always OFF.
8 Signal always ON.
9 to C Not used
D Input from CN1 pin44 (Falling edge).
E Input from CN1 pin45 (Falling edge).
F Input from CN1 pin46 (Falling edge).
EXT 2 Pn511.2 As for EXT 1 As for EXT 1