AKD BASIC User Guide | 6 AKD BASIC Parameters, Operators, Statements
6.6.5 CAP0.MODE, CAP1.MODE
General Information
Type NV Parameter
Description
Selects the captured
value.
Units N/A
Range 0 to 3
Default
Value
0
Data Type U8
See Also N/A
Start Version M_01-00-00-000
Fieldbus Index/Subindex Object Start Version
EtherCAT COE and CAN-
open
3460h
/3
CAP0.MODE
3460h
/4
CAP1.MODE
M_01-00-00-000
Fieldbus Index/Subindex Is 64 bit? Attributes Signed?
Object
Start
Version
Modbus
62 CAP0.MODE
No 8 bit No
M_01-
03-00-
000
88 CAP1.MODE
Description
Mode 0 is the standard position capture, which stores PL.FB . Data can be retrieved with
CAP0.PLFB, CAP1.PLFB .
Mode 1 is the drive internal time capture. Data can be retrieved with CAP0.T, CAP1.T .
Mode 2 is the KAS EtherCAT distributed clock time (DCT) capture. Instead of using a position
value, the DCT is calculated. There is no user parameter to retrieve the captured DCT. Attempt-
ing to set Mode = 2 with anything other than an EtherCAT system will result in an invalid param-
eter error.
Mode 3 is the capture of the primary encoder signal. This mode is used to home onto a feed-
back index. This mode sets the other parameters needed for this mode. These parameters can
be changed later, but this is not recommended unless the input source of the index signal
varies. Parameters set in this mode are:
l CAPx.TRIGGER 10: index mark of primary encoder
l CAPx.EDGE 1: rising edge
l CAPx.EVENT 0: ignore precondition
Also the capture engine is immediately enabled and is continuously triggered again.
Mode 4 is similar to Mode 0 (standard position capture), except that the re-enabling of the cap-
ture is done automatically. This mode can be used for the registration move.
179 Kollmorgenâ„¢ | March 30, 2012
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