Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 323
Motion Control Applications Chapter 12
See Set Up Capture and Compare in KNX5100C Software on page 329.
Using the Motor Encoder as the Compare Source
If the capturing axis is selected, the source of the capturing axis ID331 (P5.039.Y)
cannot be changed. If the encoder of the motor is selected, the pulse resolution is
determined by ID153 (P1.046) (Encoder pulse number output setting) and
ID176 (P1.097).
When ID176 (P1.097) = 0, OA/OB pulse output will only refer to the setting of
ID153 (P1.046).
Example 1:
When ID176 (P1.097) = 0; ID153 (P1.046) = 2500
OA/OB output is P1.046 multiplied by 4 times the frequency, which is
10,000 pulse.
Table 105 - High-speed Position Compare, Additional Information
ID351 P5.059
CompareControl
Bit Function Description
X 1 Cycle mode If bit 1 is set to 1 and all compare procedure is completed, ID350 (P5.058) resets to the setting value and then
compare procedure starts again.
2 Enable Capture function
after data compared
If bit 2 is 1, after all comparing is done, enable the Capture function (Set ID331 (P5.039.X) bit 0 to 1, and set the
previous value to ID330 (P5.038) as the data size to be captured); if Capture function has been enabled, then this
function is invalid.
3 Reset position of the
comparing axis to 0
If bit 3 is 1, set ID349 (P5.057) to 1 once comparing is completed, the position of comparing axis will be cleared to 0.
Y–Source setting of
comparing axis
0: Capturing axis
1: Auxiliary encoder (AUX)
2: Pulse command (I/O)
3: Main encoder (MFB)
If capturing axis is selected, source of the capturing axis ID331 (P5.039.Y) cannot be changed. If encoder of the motor
is selected, pulse resolution is determined by ID153 (P1.046) (Encoder pulse number output setting) and
ID176 (P1.097).
Z – Trigger logic 0: N.O. (normally open)
1: N.C. (normally closed)
U – Trigger PR command If bit 0 is set to 1, PR#45 is triggered once the last data is compared.
CBA – Pulse output duration (ms) –
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