Delta RMC151 User Manual download pdf (Page 75)

3 Controller Features

RMC70 QAx or

RMC150 Quad

RMC150 UI/O

RegX/PosLim input

RegY/NegLim input

DI/O inputs R0and R1

RMC70 Q1

Reg input

Registration Positions

Each quadrature feedback axis can keep track of two independent registration events,

called Registration 0 and Registration 1. On the Q1

module, both registrations can

only come from the Reg input. On the QAx and Quad modules, either registration can

come from either the RegX or RegY input, or both registrations can come from one

input. On the

Universal I/O module, the channel 0 registration can come from R0 and the

channel 1 registration can come from the R1 input.

Arming the Registration

Issuing the Arm Registration (52) command tells the axis to wait for a registration event.

Once this command is issued, the registration is said to be armed. When the registration

is armed, the corresponding registration armed status bit will be set (

Registration 0

Armed and Registration 1 Armed). Unless the registration is armed, the registration

trigger is ignored.

The Arm Registration (52) command also tells the axis which Registration Number (0 or

1) to apply the registration event to, which input the registration will be triggered from,

and which edge of the input (rising or falling) will trigger the registration.

Registration Event

If the registration is armed and a registration trigger occurs, the following is done:

• The precise position at the time of the registration is latched. The position will be

reported in the Registration 0 Position or Registration 1 Position

status register.

• The corresponding latched status bit will be set (Registration 0 Latched or Registration

1 Latched).

• The corresponding armed status bit will be cleared (Registration 0 Armed or

Registration 1 Armed).

Once a registration is latched, you must issue the Arm Registration (52)

command again

to rearm it.

Disarm Registration

To manually disarm a registration, issue the Disarm Registration (53) command. Issuing

this command will clear the corresponding Registration Armed status bit (Registration 0

Armed and Registration 1 Armed).

3.2.5. Homing

Certain encoders, such as quadrature encoders, are incremental and do not provide absolute

position. To use an incremental encoder in a position application, a known reference position

must be established. This position is called the Home position. The process of determining the

home position is called Homing. As the encoder is rotated, it increments or decrements the

position from the initial home position, and thereby the position is obtained.

When an axis is homed, the Actual Position of the axis is changed. The Target and Command

positions are also adjusted by the same amount. Therefore, the motion of the axis will not be

affected. It is safe to home an axis when it is moving.

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Delta RMC151 User Manual Page 75

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