Program Examples
REGIST_SPEED parameter
The registration (position capture) circuit of the Motion Coordinator can latch the current encoder position very precisely. Better than 1 microsecond response is available in the capture circuit itself. In most real-world systems there are other delays built into the registration circuit; the external sensor and the input opto-isolator will have some fixed response time.
As machine speed increases, the fixed electrical delays will have an effect on the captured registration position. From system software V1.66 Dev 53 onwards, a new axis parameter has been added that will capture the axis speed at the same time as the position.
The captured speed and position values can be used to calculate a registration position that does not vary with speed because of the fixed delays.
fixed_delays=0.020 ' circuit delays in milliseconds
REGIST(3)
WAIT UNTIL MARK
captured_position = REG_POS–(REGIST_SPEED*fixed_delays)
Note: REGIST_SPEED is change_of_position per msec at all SERVO_PERIOD settings. The value takes account of the UNITS setting of the axis.
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