Specifications

Examples and tips
PROGRAMMING MANUAL 255
Revision 5.0
Registration in the Junma Servo Driver
Registration in the Junma Servo Driver is the same as registration in the
Sigma-II Servo Driver, with one difference: There is only one physical input
and one logical latch too, so no settings of Servo Driver parameters are
necessary. The physical input is associated to logical latch EXT1, and only
the rising signal edge can be used for registration.
Registration in the G-Series Servo Driver
Registration in the G-Series Servo Driver is the same as registration in the
Sigma-II Servo Driver, with one difference: There are three physical inputs
but only one can be activated at a time. The physical input is associated to
logical latch EXT1, EXT2 and EXT3, but the corresponding locations on the
CN1 connector are fixed, so no settings of Servo parameters are necessary.
Only the rising signal edge can be used for registration.
In contrast with other types Servo Drivers, the G-series Servo Drivers do not
support executing registration while it is in base-block state. The registration
can be executed on G-Series Servo Drivers only when WDOG is set to ON.
If registration is required when the G-Series Servo Driver is in base-block
state, this workaround can be used: put the G-Series Servo Driver in torque
mode with zero torque by executing:
• ATYPE=42
•T_REF=0
and then perform registration.
Registration in the Accurax G5 Servo Driver
In the Accurax G5 Servo Drivers there are three registration inputs and two
hardware latches. Trajexia uses logical inputs EXT1, EXT2 and EXT3 to
associate the physical inputs to logical ones. This association is done by
setting the parameters Pn404 to Pn406 of the Servo Driver. For more
information on setting this association, refer to the tables below.
/i
The table below lists the available settings to allocate EXT1, EXT2 and
EXT3 to the CN1 input signals.
/i
In contrast with other types Servo Drivers, the Accurax G5 Servo Drivers do
not support executing registration while it is in base-block state. The
registration can be executed on G-5Series Servo Drivers only when WDOG
is set to ON. If registration is required when the G-Series Servo Driver is in
base-block state, this workaround can be used: put the G-Series Servo
Driver in torque mode with zero torque by executing:
• ATYPE=42
•T_REF=0
and then perform registration.
Registration in the TJ1-FL02
The TJ1-FL02 has two physical registration inputs, and two latch circuits per
encoder input, which can be used independently. Therefore two independent
registration inputs can be used at the same time. For more information on
how to use both registration inputs of the TJ1-FL02 at the same time, refer to
sections 3.2.171, 3.2.172, 3.2.219, 3.2.220 and 3.2.221.
The delay in the capture is 0.5 µs. Because the encoder position is read
continuously from the line-drive encoder input, interpolation is not
necessary. The delay for the transmission of the captured information is just
one SERVO_PERIOD cycle.
Parameter
number
Parameter name Description
Pn404 Input Signal Selection 5 Set the IN5 input function allocation
Pn405 Input Signal Selection 6 Set the IN6 input function allocation
Pn406 Input Signal Selection 7 Set the IN7 input function allocation
Signal name Symbol Set value
Disabled --- 00h
External Latch Input 1 EXT1 20h
External Latch Input 2 EXT2 21h
External Latch Input 3 EXT3 22h
Parameter
number
Parameter name Description