Syntax
REG_ON |
REGistration ON |
| Operands | – |
Binary code
| Description | The instruction enables the superposition of the electronic gearing mode with a second motion mode. When this superposed mode is activated, the position reference is computed as the sum of the position references for each of the 2 superposed motions. |
You may enable the superposed mode at any moment, independently of the activation/deactivation of the electronic gearing slave. If the superposed mode is activated during an electronic gearing motion, any subsequent motion mode change is treated as a second move to be superposed over the basic electronic gearing move, instead of replacing it. If the superposed mode is activated during another motion mode, a second electronic gearing mode will start using the motion parameters previously set. This move is superposed over the first one. After the first move ends, any other subsequent motion will be added to the electronic gearing.
Example
//Set electronic gearing slave more with superposed mode enabled. //Master resolution: 2000 counts/rev
GEAR = 0.3333; // gear ratio
GEARMASTER = 3; //gear ratio denominator
GEARSLAVE = 1; //gear ratio numerator
EXTREF 0; // master position got via communication channel
MASTERRES = 2000; // master resolution
REG_ON; //Enable superposition
MODE GS; //Set as slave, position mode
TUM1; //Set Target Update Mode 1
SRB UPGRADE, 0xFFFF, 0x0004; //UPGRADE.2 = 1
CACC = 0.9549; //Limit maximum acceleration at 3000[rad/s^2]
UPD; //execute immediate