Bosch 6000 User's Guide download pdf (Page 197)

182

6000 Series Programmer's Guide

Registration

When a registration input (assigned trigger 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, and, if using a stepper, the positioning

mode (ENC). 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.

Registration Move Accuracy (see also

Registration Move Status

below)

The registration move distance (specified with the REG command) is based on the actual

position captured when the registration input is activated. Therefore, the accuracy of the

registration move is determined by the slight lapse between activating the registration input

and capturing the position. The accuracy is calculated as 50µs ∗ the velocity of the axis at the

time the input was activated. The exception to this rule is if you are using a servo product's

dedicated hardware latch triggers (triggers A-D are dedicated to encoders 1-4, respectively), in

which case the registration move accuracy is ±1 encoder count.

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. The sample

period for steppers is 2 ms. The sample period for servos is determined by the SSFR and

INDAX command settings (refer to the System Update column in the table in the SSFR

command description to ascertain your controller's sample period).

The REG distance will be scaled by the distance scale factor (SCLD value) if scaling is enabled

(SCALE1).

Preventing Unwanted Registration Moves

There are several methods of preventing unwanted registration moves:

• Registration Input Debounce: The registration input is debounced for 50 ms (steppers)

or 24 ms (servos) before another input on the same trigger is recognized. Therefore, the

maximum rate that a registration input can initiate registration moves is 20 times per

second (steppers) or 41 times per second (servos).

If your application requires a shorter debounce time, you can change it with the INDEB

command (refer to page 109 or to the INDEB command description for details).

• Registration Single-Shot: The REGSS command allows you to program the 6000

controller to ignore any registration commands after the first registration move has been

initiated. Refer to Sample Application 2 below.

• Registration Lockout Distance: The REGLOD command specifies what distance an axis

must travel before any trigger assigned as a registration input will be recognized. If more

than one axis is using the same trigger for registration, and one or all have a registration

lockout distance defined, then that trigger will be ignored until all axes have traveled the

lockout distances. Refer to Sample Application 3 below.

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Bosch 6000 User's Guide Page 197

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