Gemini GV6K and Gemini GT6K Programmer's Guide

Registration
A “registration input” is
a trigger input assigned
the “trigger interrupt”
function with the
INFNCi-H command.
When a registration input is activated, the motion profile currently being executed is replaced
by the registration profile with its own distance (REG), acceleration (A & AA), deceleration (AD
& ADA), and velocity (V) values. The registration move may interrupt any preset, continuous,
or registration move in progress.
The registration move does not alter the rest of the program being executed when registration
occurs, nor does it affect commands being executed in the background if the controller is
operating in the continuous command execution mode (COMEXC1).
Registration moves will not be executed while the motor is not performing a move, while in
the joystick mode (JOY1), or while decelerating due to a stop, kill, soft limit, or hard limit.
How to Set up a Registration Move
☞
ENCCNT: Encoder
capture options for
stepper axes are
discussed on page 85.
Before you can initiate a registration move, you must program these elements (refer also to the
programming examples below):
1. Configure one of the trigger inputs (TRG-nA [#1] or TRG-nB [#2]) to function as a
trigger interrupt input; this is done with the INFNCi-H command, where “i” is the
input bit number representing the targeted trigger input. Note that the “Master Trigger”
input may not be used for registration.
2. Specify the distance of the registration move with the REG command. For servo axes,
the distance refers to the encoder position. For stepper axes, the distance refers to
commanded position if ENCCNT0 (default setting) or encoder position if ENCCNT1.
3. Enable the registration function with the RE command. Registration is performed only
when the registration function is enabled, and with a non-zero distance specified in the
respective axis-designation field of the REG command.
NOTE: The registration move is executed using the A, AA, AD, ADA, and V values that
were in effect when the REG command was entered.
Registration Move Accuracy (see also Registration Move Status below)
The accuracy of the registration move distance specified with the REG command is ±1 count
(servo axes: encoder count; stepper axes: commanded count if ENCCNT0 or encoder count if
ENCCNT1).
RULE OF THUMB: To prevent position overshoot, make sure the REG distance is greater
than 4 ms multiplied by the incoming velocity.
The lapse between activating the registration input and commencing the registration move
(this does not affect the move accuracy) is less than one position sample period (2 ms).
The REG distance will be scaled by the distance scale factor (SCLD value) if scaling is
enabled (SCALE1). See page 67 for details on scaling.
Chapter 6. Following 159