Kollmorgen AKD-N-DB Benutzerhandbuch Seite 500

AKD Benutzerhandbuch | 25.7.6 CAP0.MODE, CAP1.MODE
Mode 0 is the standard position capture. The source of the captured position is determined by
CAP0.FBSOURCE, CAP1.FBSOURCE (➜ S. 495). Data can be retrieved with CAP0.PLFB,
CAP1.PLFB (➜ S. 501).
Mode 1: Drive Internal Time
Mode 1 is the drive internal time capture. Data can be retrieved with CAP0.T, CAP1.T (➜ S. 511).
Mode 2: Distributed Clock Time
Mode 2 is the KAS EtherCAT distributed clock time (DCT) capture. Instead of using a position value,
the DCT is calculated. There is no user parameter to retrieve the captured DCT. Attempting to set
Mode = 2 with anything other than an EtherCAT system will result in an invalid parameter error.
Mode 3: Primary Encoder Signal
Mode 3 is the capture of the primary encoder signal. This mode is used to home onto a feedback index.
This mode sets the other parameters needed for this mode. These parameters can be changed later,
but this is not recommended unless the input source of the index signal varies. Parameters set in this
mode are:
l
l
l
Also the capture engine is immediately enabled and is continuously triggered again.
Mode 4: Auto-Armed Position
Mode 4 is similar to Mode 0 (standard position capture), except that the re-enabling of the capture is
done automatically. This mode can be used for the registration move.
Related Topics
Verwendung der Positionserfassung (➜ S. 94)
500 KOLLMORGEN | Dezember 2014
CAPx.TRIGGER 10: index mark of primary encoder
CAPx.EDGE 1: rising edge
CAPx.EVENT 0: ignore precondition