Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 379
Chapter 12 Motion Control Applications
Use parameter ID351 (P5.059) CompareControl to enable or disable the
Capture function and to define the axis source and trigger logic. See Table 120
.
Figure 186 - Compare Control
Table 120 - High-speed Position Compare, Additional Information
ID351 P5.059
CompareControl
Bit Function Description
X
0 Compare feature If bit 0 is set to 1, the compare feature executes when ID350 (P5.058) is > 0.
1Cyclic mode
If bit 1 is set to 1 and all compare procedures are completed, ID350 (P5.058) resets to the setting value and then
compare procedure starts again.
2
Enable Capture function
after data compared
If bit 2 is 1, after all comparing is done, enable the Capture function (Set ID331 (P5.039.X) bit 0 to 1, and set the
previous value to ID330 (P5.038) as the data size to be captured); if Capture function has been enabled, then this
function is invalid.
3
Reset position of the
comparing axis to 0
If bit 3 is 1, once the last data array element is compared, ID349 (P5.057) is set to zero.
Y–
Source setting of
comparing axis
0: Capturing axis
1: Auxiliary encoder (AUX)
2: Pulse command (I/O)
3: Main encoder (MFB)
If capturing axis is selected, source of the capturing axis ID331 (P5.039.Y) cannot be changed. If encoder of the
motor is selected, pulse resolution is determined by ID153 (P1.046) (Encoder pulse number output setting) and
ID176 (P1.097).
Z–Trigger logic
0: N.O. (normally open)
1: N.C. (normally closed)
U – Trigger PR command If bit 0 is set to 1, PR#50 (DI9) or PR#60 (DI10) is triggered when the last data array segment is compared.
CBA –
Pulse output duration
(ms)
–
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