Chapter 7 Motion Control Functions
Characteristics of Capture function
Data Storage
Location
Data array. The starting point is set in P5-36.
Amount
The amount is determined by P5-38. But, the total amount can
not exceed the limit of data array.
Data Format
32-bit pulse number (with polarity)
Auxiliary
Function
If Bit 1 of P5-39 X setting is set, P5-37=P5-76 after the first
point is captured.
If Bit 2 of P5-39 X setting is set, the servo system will initiate
Compare function automatically after the first point is
captured.
If Bit 3 of P5-39 X setting is set, the servo system will call
PR#50 automatically when all data in P5-38 captured
completely.
DO Signal:
CAP_OK
The default setting is OFF.
It will be ON when the last position is captured.
When Bit0 of P5-39 is set to 1 (P5-39 X0=1), it will be OFF after
the capture function is enabled.
Remark
If P5-38=0 and Bit0 of P5-39 is set to 1 (P5-39 X0=1), Capture
function will be disabled. At this time, Bit0 of P5-39 will be
reset to 0 (P5-39 X0=0) and the DO signal, CAP_OK will be
inactivated (OFF) as well.
The data format of Capture axis is 32-bit data. Do not calculate
the capture data repeatedly; otherwise the overflow may occur
and result in error or invalid result.
The data captured by Capture function are all stored in data array. The first captured
point is stored in data array (P5-36), the capture amount is determined by P5-38 and
the last captured point is stored in data array (P5-36+P5-38-1). When Bit0=1 (P5-39 X
setting value), the Capture function is enabled. Once DI7 is triggered every time, one
position data will be captured and stored into data array. At this time, the setting value
of P5-38 will decrease 1 automatically until the capture amount is reached, i.e. the
setting value of P5-38 becomes 0. When capture function has finished, the value of Bit0
(P5-39 X setting value) will be reset to 0 automatically, and DO signal, CAP_OK will be
activated.
When the first point is captured, users can choose to reset the position of Capture axis.
Then, the value of the first capture point must be the value of P5-76 and the captured
value after the second captured point will be the movement relative to the first captured
point. This kind of Capture is called “Relative Capture”. However, if users choose not to
reset the fist captured point, the capture method is called “Absolute Capture”.
When capturing the first point, users can select to enable Compare function as well
Revision January 2011 7-39
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