Allen-Bradley Kinetix 5100 2198-E1004-ERS, User Manual, Page: 316 / 500

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Rockwell Automation Publication 2198-UM004A-EN-P - October 2019
Chapter 12
Motion Control Applications
For parameter descriptions and data, see the Knowledgebase article 1090034
Kinetix
®
5100 Servo Drive Parameter Data and Fault Codes.
To configure the Capture function, you need to:
• Define and enable the operation of the capture function, including
definition of the axis source and trigger logic
• Define the start position for data capture in the data array
• Set the amount of data to be captured
• Enable the cyclic mode
The following explanation of the function uses DI9 as the example and is
illustrated in Figure 143 .
Use ID331 (P5.039) (corresponding to DI9, or ID395 (P5.110) corresponding
to DI10) to enable or disable the Capture function and to define the axis source
and trigger logic. See Table 103 .
The amount of data to capture is set via ID330 (P5.038)
DI9CaptureRemainedCount and must be greater than 0 otherwise the Capture
function is invalid.
When the Capture function is executing, the ID330 (P5.038)
DI9CaptureRemainedCount parameter indicates the remaining number of data
that has not been captured (read-only). With each instance where data is
captured, this value decrements by 1 until the value is 0, which indicates that the
Capture function has completed. Then, the next cycle automatically begins
referring to the configured capture amount.
However, the start position is still determined by ID328 (P5.036)
DI9CaptureStartAddress, which means that the data captured in the previous
cycle is replaced by the data captured in the following cycle.
To prevent the same position data (or position data within a small deviation)
from being captured repeatedly, you can configure the drive to capture multiple
data sets by defining a masking range for data capture. Capturing data more than
once is not allowed within the masked area. Use ID132 (P1.020)
DI9CaptureMaskRange to define a masking range.
Set ID131.X (P1.019.X) DI9ExtraConfiguration bit 0 to 1 to enable the cycle
mode for the function.