Application Notes & Sample Programs: MicroLYNX

Featured Application: MicroLYNX Registration

The following Registration Application utilizes a MicroLYNX with High Speed Input Module and Encoder or Sensor.

A registration application refers to a defined offset position beyond a registration mark. The position of the registration mark, triggered from an encoder or sensor and connected to the MicroLYNX High Speed Input Module, is captured. This captured position is then added to the desired offset distance. The motor is brought to a stop at this offset distance.

A registration application is used frequently in the motion control industries such as printing, packaging and optical inspection. Stepper drives and controls offer the user an accurate and low cost solution. Program execution time, stopping distance,  motor speed, acceleration and deceleration rates are important parameters to consider when designing registration equipment.

The program below feeds labels at a velocity given by the variable SPEED. A high speed differential IO is configured as the registration sensor input. If triggered, it executes a registration move based on user-defined offset distance, and switches an output on and off. If no input is realized in 2 seconds, a timer interrupt is triggered and the motion stops, a different output is turned on to indicate that the registration mark wasn't found, and a message is sent to the terminal stating that the "Registration Mark NOT Found". This prevents continuous web applications from spilling material on to the floor if the registration mark is never seen.

Sample Registration Program:

Munit = 51200 'user units defined as revs
Vm = 30 'max velocity in revs per second
Vi = Vm/50 'init. velocity
Accl = 100 'acceleration
Decl = Accl 'deceleration equals acceleration
Mhc=Mrc 'motor hold current=run current 

Ios 21 = 0,1,1,0,0,0 'output definition for LED or relay
Ios 17 = 0,0,1,1,0,0 'high speed input defined
Ios 26= 0,1,0,0,0,0 'general purpose output
'***************************

VAR Label = 1 'variable called Label set to a value of 1
VAR Speed = 5
'******** Program ********
Pgm 1 'start of program
LBL STARTUP 'label used for executing on power up
Ti1 = 17, Mark 'set input trip to go to label called Mark
Tt1=2000,Cease,26 'timer trip goes to routine called cease and turns on LED 26
Tte1=1 'enable the timer trip

LBL Go
Pos = 0 'sets position equal to zero
SLEW Speed 'slew at the value of Speed
Vm = Speed 'sets Vm to the value of Speed
HOLD 1 'hold until max vel is reached
Tie1 = 1 'enables input trip
LBL Idle1 'just a label
BR Idle1, Mvg 'branch to idle1 if motor is moving

Io 21 = 1 ' sets output true
DELAY 1000 'delay 1 second
Io 21 = 0 ' sets output off
BR startup 'branch to the label startup
END

LBL Mark
MOVA Poscap + label 'move absolute to position captured on trip plus 1
HOLD 2 'hold prog execution till move completes
Tte1=0 'timer trip event enabled
RET 'return to subsequent line from where trip occurred

LBL Cease
SSTP,1 'stop motion and ends program
HOLD 2
END 
Pgm 'end of program space

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