378 Rockwell Automation Publication 2198-UM004D-EN-P - December 2022
Chapter 12 Motion Control Applications
High-speed Position
Compare Function (CMP)
The high-speed position compare function compares the captured actual
position of the motion axis with the value saved in data array. When the
compare condition is fulfilled, a high-speed digital signal (DO4)
(1)
is output
immediately for motion control. As this function is carried out by the
hardware, KNX5100C software compares the data accurately on high speed
motion axes. When the CMP function is enabled, the servo drive employs DO4
to force an output signal, which is not user-defined.
The following parameters define the function.
To configure the Compare function, you need to:
• Define and enable the operation of the compare function, including
definition of the axis source and trigger logic
• Define the start position for data compare in the data array
• Set the amount of data to be compared
• Enable the cyclic mode
Figure 188
describes the compare function.
(1) With execution time 5 µs only.
Table 119 - High-speed Capture Related Parameters
Parameter Name
ID348 (P5.056) CompareStartAddress
ID349 (P5.057) CompareAxisPosition
ID350 (P5.058) CompareRemainedCount
ID351 (P5.059) CompareControl
ID330 (P5.038) DI9CaptureRemainedCount
ID331 (P5.039) DI9CaptureControl
ID131 (P1.019) DI9ExtraConfiguration
ID133 (P1.023) NonVolatileCompareDataOffset
ID134 (P1.024) VolatileCompareDataOffset
ID153 (P1.046) EncoderOutputResolution
ID179 (P1.097) EncoderOutputDenominator
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