Emerson P/N 400361-00 manual Incremental Index, Registration Index, Registration to Sensor

position. After completing an Absolute Index, the motor will always be in the same position regardless of the starting position of the motor. The direction that the motor moves during an Absolute Index is dependant upon its position when the index is initiated.

If an Absolute Index is initiated a second time, just after completing the first index the motor will not move because it is already at its specified absolute position.

Figures 41 and 42 show examples of an Absolute Index profile.

							Position
-4	-2	-1	0	1	2	4
							(Revs)

Starting Position: -2 Revs

Index Position: 2 Revs

Figure 41: Absolute Index Profile (Example 1)

							Position
-4	-2	-1	0	1	2	4
							(Revs)

Starting Position: 3 Revs

Index Position: 2 Revs

Figure 42: Absolute Index Profile (Example 2)

Note

If Rotary Rollover is active, an Absolute Index will take the shortest path to the specified index position.

5.4.2 Incremental Index

An Incremental Index is used to make the motor travel a specified distance each time the index is initiated. The final position after the Index is completed is entirely dependant on the starting position before the Index was initiated.

5.4.3 Registration Index

A Registration Index functions much the same as a Home profile. The index runs at a specified velocity until a registration signal activates. Once the signal activates, the index either beings to decelerate immediately, or it continues at velocity for a specified offset distance.

5.4.3.1 Registration to Sensor

In a Registration Index with Sensor defined as the registration signal, the index travels at velocity until an external sensor or switch activates. The sensor or switch must be wired to a digital input on the SM-EZMotion module, SP drive, or SM-IO Plus module. To get the highest accuracy for the Registration to Sensor, an SM-EZMotion module digital input must be used to take advantage of the high-speed capture capability. Three Figures below show examples of a Registration Index to Sensor using different Offset values.

Velocity

Index Velocity

Index Registration Offset

Index Accel Index Decel

Time

Index Initiate

Registration Sensor

Figure 45: Registration to Sensor Profile (Offset > 0)

If an Incremental Index is initiated a second time, it will move the same distance each time.

Figures 43 and 44 show examples of an Incremental Index profile.

								Position
1	2	3	4	5	6	7	8
								(Revs)

Starting Position: 2 Revs

Index Distance: 4 Revs

Figure 43: Incremental Index Profile

								Position
1	2	4	6	8	10	12	14
								(Revs)

Velocity

Index Accel

Index Initiate

Registration Sensor

Index Velocity

Index Decel

Two areas are equal so motor ends at exact registration position

	Time
Index Accel
	Index
Index Velocity	Decel

Starting Position: 2 Revs

Index Distance: 3 Revs

Figure 44: Incremental Index - Repeated 3 Times

Figure 46: Registration to Sensor Profile (Offset = 0)

26 www.emersonct.com SM-EZMotion Module User Guide