Motion Coordinator Technical Reference Manual
Programming Examples 9-11
Example Programs
Example 5 - Rotating Print Head with Registration
Description
A rotating print head prints a number on a conveyor mounted product. During
printing the print head must be synchronized with the conveyor. The print posi-
tion must be registered to be relative to a registration mark.
The program achieves the motion profile by:
1) Making a synchronization gearbox connection between the conveyor and the print
head with CONNECT. This will let the printer make a print on the conveyor. The
distance between the prints will be the peripheral distance of the print head
rotation.
2) Datuming and setting the repeat distance REPDIST for the print head rotation so
that it has an absolute position of zero every time it touches the conveyor.
3) Superimposing a movement onto the print head. This movement has two func-
tions: To adjust the printer position to keep the system in register and to adjust
by the difference between the peripheral distance of the printer and the regis-
tration marks on the conveyor.
4) The superimposed movement is run on axis 3 of the controller (an “imaginary”
axis) and the movement summed with the ADDAX command. The move is per-
formed when the printer is going “over the top” of its stroke.
Program Listing
' Rotating Head with Registration:
start: GOSUB initial
loop:
WAIT UNTIL MPOS>100' Wait 100mm past print
IF MARK THEN
’ mark seen during last cycle:
TDC
Registration Sensor
Encoder to Axis 0
Inverter/Motor Axis 1
(not under servo control)
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