Command: Arm Registration (52)

Supported Axes:

Quadrature

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

Parameter Description

Range

Registration Number

0 or 1

Registration Input:

RMC75:

#	Q1 Input	QAx Input
0	Reg	RegX/PosLim
1	n/a	RegY/NegLim

RMC150:

	Quad Input	UI/O Quad Input
0	RegX/PosLim	R0
1	RegY/NegLim	R1

RMC200 Q4:

#	Channel 0	Channel 1	Channel 2	Channel 3
0	Reg0	Reg1	Reg2	Reg3
1	Hm0	Hm1	Hm2	Hm3
2	Reg1	Reg0	Reg3	Reg2
3	Hm1	Hm0	Hm3	Hm2

RMC200 U14:

#	Channel 0	Channel 1
0	Reg/Z0	Reg/Z1
1	Reg/Z1	Reg/Z0
2	D0	D0
3	D1	D1

Note: Inputs D0 and D1 are not high-speed inputs, and will provide slower registration response than the Reg/Z inputs.

RMC200 D24:

#	One quadrature input (A,B,Z)	One quadrature input (A,A,B,B) with wire break detection	Two quadrature inputs, using inputs D20&D21	Two quadrature inputs, using input D22&D23
0	D22	D18	D18	D16
1	D23	D19	D19	D17
2	D18	n/a	n/a	D18
3	D19	n/a	n/a	D19

Note: Inputs D16-D19 are not high-speed inputs, and will provide slower registration response than inputs D22-23.

RMC200 EtherCAT Drive with CiA402 Touch Probe:

#	Name	Touch Probe	Trigger
0	TP1 In	1	Touch probe 1 input
1	TP1 Z	1	Zero (Z) pulse
2	TP1 Obj	1	Source defined by object 0x60D0:01
3	TP2 In	2	Touch probe 2 input
4	TP2 Z	2	Zero (Z) pulse
5	TP2 Obj	2	Source defined by object 0x60D0:02

0-3

Input Edge:Falling (0), Rising(1)

0 or 1

Description

This command enables a position registration to occur on the specified input on the specified edge.

The Registration Number parameter specifies which registration this will apply to, either 0 or 1. The Registration Input parameter specifies which input will be used for the registration.

When this command is issued the following will occur:

The armed status bit of the selected Registration Number (0 or 1) will be set (Registration 0 Armed or Registration 1 Armed).
The latched status bit of the selected Registration Number (0 or 1) will be cleared (Registration 0 Latched or Registration 1 Latched).

If the registration is armed and a registration event occurs, the exact position at the registration event will be latched and recorded in the Registration 0 Position or Registration 1 Position status register.

For details on registration, see the Registration topic.