AKD User Guide | CAP Parameters
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 CANopen
3460h/3 CAP0.MODE
3460h/4 CAP1.MODE
M_01-00-00-000
Modbus
62 CAP0.MODE
88 CAP1.MODE
M_01-03-00-000
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. Attempting to set Mode = 2 with anything
other than an EtherCAT system will result in an invalid parameter error.
Mode 3 is capture of primary encoder signal. It is used to home onto a feedback index.This mode sets other
parameters needed for this mode. These parameters can be changed later, but this is not recommended unless
your 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.
Related Topics
8.11 Using Position Capture
312 Kollmorgen | December 2010
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