Chapter 7 Motion Control Functions
Table 1 P5-90 <= P5-91:
E-Cam Degree 0° ~ P5-90 ~ P5-91 ~ 360°
DO:CAM_AREA OFF OFF ON ON ON OFF OFF
Table 2 P5-90 > P5-91:
E-Cam Angle 0° ~ P5-91 ~ P5-90 ~ 360°
DO:CAM_AREA ON ON OFF OFF OFF ON ON
7.11.1 Capture Function
The Capture function can be applied to latch a reference position which could be the
signal of main encoder, linear encoder, or pulse train. It is possible to record 800 items
with max. length of data array.
The DI7 is the only one high speed digital input in ASDA-A2. The Capture function
needs DI7 to admit the signal changed in real time. The signal to DI7 for Capture
function is a physical signal and cannot be simulated from software. It can complete
precise Capture function for high-speed motion axis.
The characteristics of Capture function is described as follows:
Characteristics of Capture function
Sources
Three sources of Capture function:
Main encoder: Motor encoder
Auxiliary encoder: Linear scale
Pulse command: Pulse train
The selected source axis will be displayed by P5-37. Before
executing Capture function, please set P5-37 first.
Please note:
The capture source setting can not be changed when the compare
source is the capture axis.
Trigger Signal
It is triggered by DI7 and the response time is 1 usec.
Please note:
DI7 signal is a physical signal used to control Capture function
directly. No matter what the setting value of P2-16 is, when DI7 is
triggered, Capture function will be enabled always. After Capture
function is enabled, in order to avoid the malfunction of the other
DI signals, the system will force the other DI signals to be disabled,
i.e. set P2-16=0x0100 automatically. Please note that the setting
value of P2-16 will not be written into EEPROM when power is off.
After re-power the servo drive, the setting value of P2-16 will be
restored to its default setting automatically.
Trigger Method
By edge triggered. A or B contact can be selectable.
It is able to capture multiple positions continuously.
The interval time can be set also. (It can determine how long it
will take when accepting the next trigger command)
7-38 Revision January 2011
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