Allen-Bradley Kinetix 5100 2198-E1004-ERS - High-Speed Position Capture Flowchart (DI9 Example)

318 Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12 Motion Control Applications
Figure 143 - High-speed Position Capture Flowchart (DI9 example)
Figure 144 - Capture Function Screen
See Set Up Capture and Compare in KNX5100C Software on page 329.
CAP Axis Source
Normally Open
P5.039.Z = 0
DI9
Normally Closed
P5.039.Z = 1
DI9
CAP Switch
P5.039.X Bit 0
CAP Axis
Psoition
P5.037
7890
CAP Axis Source
Aux Encoder P5.039.Y = 1
Pulse Command P5.039.Y = 2
Main Encoder P5.039.Y = 3
Data Array
Reset the First Position
P5.039.X Bit 1 = 1
First Position = P5.076
Enable CMP after the
rst data is captured.
P5.039.X Bit 2 = 1
CAP Amount
P5.038
Start Address
P5.036
CAP Amount
P5.038 = P5.038 - 1
CAP Completed?
P5.038 = 0
No
Yes
Call PR#50
P5.039.X Bit 3 = 1
Cyclic CAP P1.019.X = 1
P5.038 = Previous
Setting Value
1234
2345
5678
6789
7890