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VIX IM MICROSTEPPER INDEXER DRIVE USER GUIDE
76
Trapezoidal Profile
A trapezoidal move profile results when the defined velocity, you have programmed, is
attained before the motor shaft has moved half of the specified distance. This is due to a
defined velocity that is low, a defined acceleration that is high, a move distance that is long,
or a combination of all three. For example, if the acceleration is set to 10 revs/ sec
2
, velocity
is set to 1 rev/sec, and distance is specified as 20000 steps (5 revs), the resulting motion
profile would look like this:
Velocity
accelerate
constant velocity decelerate
Time, seconds
(revs/sec)
1
0
00.1 5
5.1
Figure 4-5. Trapezoidal Profile
Registration
One of the major uses of registration is for packaging and labelling applications where a
registration mark or label edge is used to sense the position or orientation of an object.
Once detected a registration move can be triggered, which is a separate independent move
that, for example, may position a jar for a labelling operation. The registration move itself
often needs to be performed quickly (faster than the current move, to prevent queuing in
serial batch processes), Figure 4-6 illustrates a typical registration move.
Note: A registration move is always performed in mode incremental, even if the drive is
configured for mode absolute
The REG command once turned ON (1REG1), defines a registration move which can be
superimposed upon a standard move profile. The registration move will only be performed if
a specified input edge is detected on the registration input. If an optional hold-off distance
has been defined the registration command will only respond to a registration input occurring
beyond the hold-off distance. Otherwise, once the basic move had started, any valid
registration input or mark would trigger a registration move immediately. Also, if an optional
registration window has been defined, a registration move can only be triggered if the
registration mark occurs within the registration window.