User`s manual

6 Program Table
6.2.2 Registration Input Setting
6-20
6.2.2 Registration Input Setting
Parameter PnB12 sets the logic for the /RGRT Registration Latch Signal.
(1) Signal Specifications
(2) Related Parameters
The /RGRT signal can be set with the parameter below.
6.2.3 Registration Operation
If the /RGRT signal becomes active (latches) during positioning, operation will proceed from the latch posi-
tion to the registration distance only. The registration distance is specified in RDST.
Alarm E23A will occur when the registration distance is too short, i.e., when positioning will go too far even
if deceleration begins immediately. When alarm E23A occurs, the servo will go OFF and the program will
stop.
Type Signal Name
Connector
Pin No.
Setting Meaning
Input /RGRT CN1-12
ON (close)
The current position has reached the latch posi-
tion.
OFF (open)
The current position has not reached the latch
position, or has passed the latch position.
Parameter Meaning When Enabled
PnB12
0
[Factory setting]
Starts registration by switching input signal from OFF (open) to ON
(close).
After restart
1
Starts registration by switching input signal from ON (close) to OFF
(open).
2
Does not start registration.
3
/RGRT
/START-STOP
t
Speed
/RGRT
/START-STOP
t
ALM
Servo turned
OFF by alarm
Speed