Examples and tips
PROGRAMMING MANUAL
288
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The registration differs for different axes depending on their connection to
the system. If an axis is connected via the MECHATROLINK-II bus, the
registration is done in the Servo Driver hardware. If an axis is connected via
the Servo Driver analog interface and the TJ1-FL02, the registration is done
in the hardware of the TJ1-FL02.
The different registrations are described below.
Registration in the Sigma-II and Sigma-V Servo Driver
Registration in the Sigma-II and Sigma-V Servo Driver occurs when an axis
assigned to this Servo Driver is connected to the Trajexia system via the
MECHATROLINK-II bus. There are three registration inputs on these Servo
Drivers, but only one hardware latch, so only one input can be used at a
time. For Sigma-II Servo Drivers the physical inputs are in pins CN1-44,
CN1-45 and CN1-46 on the 50-pins CN1 connector. For Sigma-V Servo
Drivers the physical inputs are in pins CN1-10, CN1-11 and CN1-12 on the
26-pins CN1 connector. Trajexia uses logical inputs EXT1, EXT2 and EXT3
to associate the physical inputs to logical ones. This association is done by
setting the parameter Pn511 of the Servo Driver. For more information on
setting this association and Pn511 parameter, refer to the table below.
/i
Registra-
tion signal
Parameter
number
Parameter value
Description
EXT 1
Pn511.1
0 to 3
Not used
4
Input from CN1 pin44 (Rising edge)
5
Input from CN1 pin45 (Rising edge).
6
Input from CN1 pin46 (Rising edge).
7
Signal always OFF.
8
Signal always ON.
9 to C
Not used
D
Input from CN1 pin44 (Falling edge).
E
Input from CN1 pin45 (Falling edge).
F
Input from CN1 pin46 (Falling edge).
EXT 2
Pn511.2
As for EXT 1
As for EXT 1
