1. Registration (position capture)
Trio Training
Registration (position capture)
Hardware Registration How it works and some examples

2. What is Hardware Registration?
Hardware Registration gives us the ability to:
Accurately record the position of an event
Can be triggered from many sources with 24V output signal
Proximity sensor
Optical sensor
Magnetic sensor
Output from vision system
Or the zero mark on an axis encoder

3. What is Hardware Registration?
Registration Input

4. BASIC Commands for registration
REGIST(mode, channel, source, edge, window)
mode Set to 20, 21 or 22 for most applications
channel HW capture channel or module input number
source Selects external input or Z encoder index
edge Rising or falling edge trigger
window 0 for no window, or set to 1 or 2 to use window
OPEN_WIN position where the search for regist event will start
CLOSE_WIN position where the search for regist event will stop

5. Hardware position capture
REGIST(20, channel, source, edge, window)
When channel = 0:
MARK Flag to show that event has happened
REG_POS Position where event happened
REGIST_SPEED Captured MSPEED where event happened
When channel = 1:
MARKB Flag to show that 2nd event has happened
REG_POSB Position where 2nd event happened
REGIST_SPEEDB Captured MSPEED where 2nd event happened

6. Benefit of Hardware Registration
External Event
1.2ms / 6mm
1ms
5mm
2ms
10mm
3ms
15mm
4ms
20mm
4ms
20mm
4mm
SPEED = 5m/s
MARK=TRUE
REG_POS=6
IN(x)=ON
MPOS=10
REGIST

7. OFFPOS Example 1 REGIST(20,0,0,0,0) WAIT UNTIL MARK OFFPOS = -REG_POS
Registration Input
MC405
The Application:
Boxes appear randomly on a conveyor.
A label has to be applied relative to the leading edge of the box (MOVELINK).
The Solution:
Optical sensor senses the leading edge of the box
Use REGIST to capture the position and use OFFPOS to reset the encoder to zero at this point.
The conveyor position is now absolute in relation to the leading edge of the box.
REGIST(20,0,0,0,0)
WAIT UNTIL MARK
OFFPOS = -REG_POS

8. Interpolated position capture
REGIST(21, channel, 0, edge, window)
channel The module input number to use
R_MARK(channel) Flag to show that event has happened
R_REGPOS(channel) Position where event happened
R_REGISTSPEED(channel) Captured MSPEED where event happened
A “time-stamp” is generated when the input is triggered. The event time is then used to calculate event position by interpolation between MPOS now and MPOS from the previous servo tick.

9. Multiple registration inputs
When more than 2 registration events are needed on one axis, some hardware supports multiple registration channels.
REGIST(22, channel, source, edge, window)
channel The module input number to use
R_MARK(channel) Flag to show that event has happened
R_REGPOS(channel) Position where event happened
R_REGISTSPEED (channel) Captured MSPEED where event happened
Note: If this mode is used, all 8 inputs are assigned to the one axis. You cannot mix REGIST(22) and REGIST(20) on one bank of inputs.

10. Registration Example pitch Reg. mark BASE(lab_feed) REGIST(21,4,0,1,0)
DEFPOS(0) `sets the “at rest” position = 0
MOVELINK(pitch+radj,lnkdst,20,20,conv,2,lpos)
WAIT UNTIL R_MARK(4) or MTYPE=0
IF R_MARK(4) THEN
‘ Reg mark seen, calculate error
reg_err = expected-R_REGPOS(4)
radj = reg_err*0.4 ‘Adjust by reg.‘gain’
ELSE
‘ Did not see reg mark
misses=misses+1
IF misses>max_misses THEN GOTO reg_fail
ENDIF

11. MOVEABS(100) MOVEMODIFY(140) MOVEMODIFY
Remember that MOVEMODIFY enables the program to change the end point of a move which is already in motion.
100
140
MOVEABS(100)
MOVEMODIFY(140)

12. Credit card punch
Registration Input
MC405 Input

13. Credit card punch Loop: WAIT UNTIL IN(punch_clr)=ON MOVE(index_length)
“Perfect” Case without Registration
Loop:
WAIT UNTIL IN(punch_clr)=ON
MOVE(index_length)
WAIT IDLE
GOTO loop
Real Application with Registration
Loop:
WAIT UNTIL IN(punch_clr)=ON
MOVE(index_length)
REGIST(20,0,2,0,0)
WAIT UNTIL MARK
MOVEMODIFY(REG_POS + offset)
WAIT IDLE
GOTO loop

14. Registration and MOVEMODIFY
Additional Code for Error Trapping
loop:
WAIT UNTIL IN(punch_clr) = ON
MOVE(index_length)
REGIST(3)’ rising edge of R
WAIT UNTIL MARK OR IDLE
IF MARK THEN
MOVEMODIFY(REG_POS + offset)
WAIT IDLE
ELSE
PRINT #3,”WARNING! No Mark Seen”
misses = misses+1
IF misses>20 THEN GOTO reg_failed
ENDIF
GOTO loop