Capture Function - Delta ASDA-A2 Series User Manual

7.11.1 CAPTURE Function

CAPTURE is designed to use the external trigger signals from CN7 to capture the position data of
motion axis instantly and save the captured data intro data array for motion control. Because the capture
operation is controlled through external control command (via hardware), there is no delay problem
when executing control command upon software. Therefore, it is capable of capturing the position data
of high speed motion axis as well. The characteristics of Capture function is described as follows:
Source Setting
Trigger Signal
Trigger Method
Data Storage Location
Capture Amount
Capture Data Format
Auxiliary Function
DO Signal: CAP_OK
Note
Revision April, 2010
Chapter 7 Motion Control Function|ASDA-A2 Series
Characteristics of Capture function
Motion axis: Motor encoder
Motion axis: Auxiliary encoder (linear scale)
Motion axis: Pulse command
The selected axis will be displayed by P5-37. Please set P5-37 before
executing capture operation as it only can be set when capture operation is
stopped.
Please note:
The capture source setting can not be changed when the compare source is
the capture axis.
It is triggered by DI7 and the response time is 1 usec.
Please note:
DI 7 signal is used to control Capture function directly. No matter what the
setting value of P2-16 is, when DI7 is triggered, Capture function will be
enabled always. Therefore, when Capture function is used, in order to avoid
the malfunction of the commonly-used DI signals, the system will force the
commonly-used DI signals to be disabled, i.e. set P2-16=0x0100
automatically. The setting value of P2-16 will not be written into EEPROM
when power is off. After re-power the servo drive, the setting value of P2-16
will be restored to its default setting automatically.
By edge triggered. A or B contact can be selectable.
It is able to capture multiple positions continuously.
The interval time can be set also.
(It can determine how long it will take when accepting the next trigger
command)
Data array. The starting address is set by P5-36.
The capture amount is determined by P5-38. But, the total amount can
not exceed the limit of data array.
32-bit pulse number (with polarity)
The first capture data is regarded as P5-76 and the capture coordinate of
can be redefined.
After the first capture position is captured, it will enable Compare function
automatically.
After capture function has finished, it can execute Pr ＃50 command
automatically.
The default value is OFF.
ON when the last position is captured.
Setting Bit0 of P5-39 to 1 (P5-39 X0=1) will enable the capture function.
When capture function has finished, the value of Bit0 will be reset to 0
automatically and CAP_OK will be OFF.
If P5-38=0, Capture function will be disabled even if setting Bit0 of P5-39
to 1 (P5-39 X0=1). At this time, the setting Bit0 of P5-39 will be reset to 0
(P5-39 X0=0) and the DO signal, CAP_OK will be inactivated (OFF) as
well.
The data format of Capture axis is 32-bit data. Do not calculate the
capture data repeatedly; otherwise the overflow may occur and result in
error or invalid capture result.
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