I am working with a Kinetix 5500 servo drive with a rotational actuator to locate a keyway on a shaft. The shaft will rotate, and a laser sensor will detect the height difference when the keyway passes in front of the sensor. I need to record the position of the keyway so I can orient it to a known position.
The laser sensor will be wired to Registration Input 1 (see pages 62 and 65 of user manual above), to capture the position of the servo more accurately than using a sensor wired in to the PLC's I/O.
I have been able to find little information about how to actually use a registration input in my PLC program. I know there is some sequence that is required to arm the registration input to look for a transition, and then grab the saved servo position from the drive.
How does this process work? Is there documentation from Rockwell that I'm not finding? (I found a programming manual for PowerFlex, but not Kinetix)
Additional information: the PLC is an AB ControlLogix, and the drive is connected via Ethernet. I am familiar with setting up, tuning, and issuing Motion Direct commands for Kinetix drives.
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