Allen-Bradley Kinetix 5100 2198-E1004-ERS - Chapter 12 Motion Control Applications; High-speed Position Capture Function (CAP)

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 315
Chapter 12
Motion Control Applications
Motion control applications include high-speed position capture applications,
high-speed position compare applications, and E-Cam applications.
High-speed Position
Capture Function (CAP)
The High-speed Position Capture function uses the externally-triggered high
speed digital inputs DI9 and DI10 to capture the position data of the motion axis
and store it in the data array for further motion control. As the Capture function
is carried out by the hardware, the KNX5100C software captures the motion
axis’ position accurately. While the Capture function is enabled, the servo drive
inputs the DI9 or DI10 signal as capture signal, which is not user-defined.
The following parameters define the function.
Topic Page
High-speed Position Capture Function (CAP) 315
High-speed Position Compare Function (CMP) 322
E-Cam 333
Macro Commands 367
Table 102 - High-speed Capture Related Parameters
Parameter Name
ID328 (P5.036) DI9CaptureStartAddress
ID392 (P5.107) DI10CaptureStartAddress
ID330 (P5.038) DI9CaptureRemainedCount
ID394 (P5.109) DI10CaptureRemainedCount
ID131 (P1.019) DI9ExtraConfiguration
ID183 (P1.103) DI10ExtraConfiguration
ID331 (P5.039) DI9CaptureControl
ID395 (P5.110) DI10CaptureControl
ID329 (P5.037) DI9CaptureAxisPosition
ID393 (P5.108) DI10CaptureAxisPosition
ID132 (P1.020) DI9CaptureMaskRange
ID184 (P1.104) DI10CaptureMaskRange
ID368 (P5.076) DI9FirstCaptureResetPosition
ID396 (P5.110) DI10FirstCaptureResetPosition