Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 371
Chapter 12
Motion Control Applications
Motion control applications often include high speed dependencies. These
dependencies includes being able to capture and compare motor positions and
execute high-speed functions with synchronization.
High-speed Position
Capture Function (CAP)
The High-speed Position Capture function uses high speed digital inputs (DI9
and DI10) to quickly and accurately capture the motor position, then store it in
a data array for later use.
The following parameters define the function.
There are two capture functions can be used simultaneously and are
configured using KNX5100C software. To use the capture functions, navigate
to Function List>Motion Control>Capture(CAP)/Compare(CMP) and:
• Configure the Capture Options
Topic Page
High-speed Position Capture Function (CAP) 371
High-speed Position Compare Function (CMP) 378
E-CAM 384
This manual links to Kinetix® 5100 Servo Drive Fault Codes Reference
Data, publication 2198-RD001
, for fault codes and Kinetix 5100 Servo
Drive Parameters Reference Data, publication 2198-RD002
, for
parameters. Download the spreadsheets now for offline access.
Table 117 - High-speed Capture Related Parameters
Parameter Name
ID328 (P5.036) DI9CaptureStartAddress
ID392 (P5.107) DI10CaptureStartAddress
ID330 (P5.038) DI9CaptureRemainedCount
ID394 (P5.109) DI10CaptureRemainedCount
ID131 (P1.019) DI9ExtraConfiguration
ID183 (P1.103) DI10ExtraConfiguration
ID331 (P5.039) DI9CaptureControl
ID395 (P5.110) DI10CaptureControl
ID329 (P5.037) DI9CaptureAxisPosition
ID393 (P5.108) DI10CaptureAxisPosition
ID132 (P1.020) DI9CaptureMaskRange
ID184 (P1.104) DI10CaptureMaskRange
ID368 (P5.076) DI9FirstCaptureResetPosition
ID396 (P5.110) DI10FirstCaptureResetPosition
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