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Motion Control

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ASDA-A3

7

7.2.2 High-speed position capture function (Capture)

The high-speed position capture function (CAP) uses the external-triggered high speed digital

input DI7 (with execution time of only 5 µs) to capture the position data of the motion axis and

store it in the data array for further motion control. As the Capture function is executed by the

hardware, there is no lag in the software, and it is able to capture the motion axis’ position

accurately. While the Capture function is enabled, the servo drive sends a DI7 signal for the

capture signal (DI7 is not user-defined).

The flowchart for high-speed position capturing is shown in Figure 7.2.2.1. The relevant

parameters are defined as follows. P5.036 sets the start position in the data array for storing the

captured data; if it is not set, the default start position is #0. P5.038 sets the capturing amount.

The amount has to be greater than 0, otherwise the Capture function is not executed. P1.019.X

enables the cycle mode. When the last data is captured, the capturing amount is reset to 0

(P5.038 = 0), and the next cycle starts automatically to capture the set capturing amount.

However, the start position for storing the captured position data is still determined by P5.036;

that is, the captured data in the previous cycle is overwritten by the data captured in the next

cycle. P5.039 enables and disables the Capture function and other settings. See the following

table for more information. To capture multiple position data, use P1.020 to set the masking

range for capturing. This prevents the same position data being captured repeatedly because

capturing more than once is not allowed in the masked area. You can set the Capture function

in ASDA-Soft, as shown in Figure 7.2.2.2.

P5.039

X

Y

Z

U

Bit

Function

Description

When P5.038 > 0 and Bit 0 = 1, the capturing starts and

DO.CAP_OK is off. Each time a position is captured,

the value of P5.038 is decremented by 1.

0

Enable Capture function When P5.038 = 0, it means the capturing is finished,

DO.CAP_OK is on, and Bit 0 is reset to 0. If Bit 0 is

already 1, the written value must not be 1; you must

write 0 to disable the Capture function.

1

Reset position when first data If Bit 1 = 1, after the first data is captured, set the

is captured

Capture axis’ position to the value of P5.076.

If Bit 2 = 1, when the first data is captured, enable the

2

Enable Compare function after Compare function (P5.059.X Bit 0 = 1 and P5.058

first data is captured

resets to the previous value). If the Compare function is

already enabled, then this bit function is invalid.

3

Execute PR#50 after the last

data is captured

If Bit 3 = 1, execute PR#50 once all data are captured.

0: disabled

1: CN5

-

Source of Capture axis

2: CN1 (pulse command)

3: CN2

-

Trigger logic

0: NO (normally open)

1: NC (normally closed)

- Minimum trigger interval (ms) -

7-68

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