FM-3 Programming Module Reference Manual
Registration Index
A Registration Index is used in applications where the motor must move until an object is detected and then move a specific distance from the point of detection, such as finding a registration mark and moving a distance beyond.
The Registration Index consists of two parts. The first part accelerates the motor to the target velocity and continues at this velocity until it receives a registration trigger (sensor or analog). Upon receipt of a registration trigger, the registration offset will be executed at the target velocity. The Sensor Limit Distance Hit source can be used to turn on an output, if a sensor input or analog limit is not received within the Limit Distance. A registration window can also be used to determine the validity of a registration trigger. If a registration trigger is received outside of the registration window, it will be ignored.
Rotary Plus and Rotary Minus Indexes
Rotary Plus and Rotary Minus Indexes provide forced directional control of moves to absolute positions. The position entered for a Rotary Plus or Minus type index must be within the rotary range (i.e. 0 ≤ Position < Rotary Rollover Point). All other parameters function the same as they do with absolute indexes. An Absolute Index is a direct move to a specific position, regardless of the starting point. A Rotary Plus Index moves to the specified position, but is forced in a positive direction. Similarly, a Rotary Minus index moves to the specific position, but is forced in a negative direction.
Rotary Plus and Minus Indexes are usually used in rotary applications, therefore the rotary rollover feature on the Setup - Position view in the PowerTools Pro software must be enabled to use them.
1.In the following examples the term “D” = (absolute position specified) - (current position). If “D” is negative, motion in the negative direction is implied.
2.In the following examples the Rotary Rollover parameter on the Setup - Position view is set to 360.00°. This means that with each revolution of the motor (or rotary table), feedback will count up to 359.99°, then roll over to Ø°.
Indexes with Rotary Rollover Enabled
Incremental move distances can be outside of the rotary rollover range. See the Setting Up Parameters section for an explanation of Rotary Rollover.
Example 1: If the starting position is at Ø° and 720° is the specified distance, an Incremental index would move 2 revolutions in the positive direction. At the completion of this index the motor position would be Ø°.
Absolute indexes will take the shortest path to the specified position. Absolute index positions must be within the rotary rollover range.
Example 2: If the starting position is at 90° and 80° is the specified position, an Absolute index would travel 10° in the negative direction. At the completion of this index the motor position would be 80°.
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