Epsilon EP-P Drive Reference Manual
151
Revision A4
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effect, and the CaptureTriggered remains inactive. Once the CaptureEnable is activated, the Capture component is ready and
waiting for a CaptureActivate signal to capture data. CaptureEnable is a read-only destination on the Assignments view, and is
accessible through a user program.
Capture Reset
Capture.#.CaptureReset
The CaptureReset is used to reset or re-arm the capture component after it has been activated. If the capture has been
activated, the CaptureTriggered destination will be active. The capture component cannot capture data again until it has been
reset. The capture component will automatically reset itself if the CaptureEnable signal is removed.
Capture Triggered
Capture.#.CaptureTriggered
The CaptureTriggered signal is read-only and indicates that the Capture component was activated and that data has been
captured. CaptureTriggered will activate on the leading edge of CaptureActivate if the Capture component is enabled and
reset. Capture Triggered will remain active until CaptureReset is activated.
Captured Master Position Homed
Capture.#.CapturedMasterPosHomed
On the rising edge of the Capture Activate event, the master axis position is captured (in counts). The captured counts value is
then converted into Master Distance User Units and stored in the Captured Master Position parameter. If the user redefines
the zero position of the master axis, the master position in User Units is zeroed out, however the counts parameter is not.
Therefore, if another capture occurs after the position has been zeroed, the value stored in the Captured Master Position
parameter will be off by the value of the master axis before the position was zeroed out. This parameter is to be used if the
master axis position is redefined after power-up.
Captured Master Position
Captured.#.CapturedMasterPosition
The master axis feedback position, in master axis distance units, at the time when CaptureTriggered activated.
Captured Position Command
Capture.#.CapturedPositionCommand
The command position, in user units, at the time when CaptureTriggered activated.
Captured Position Feedback
Capture.#.CapturedPositionFeedback
The feedback position, in user units, at the time when CaptureTriggered activated.
Captured Time
Capture.#.CapturedTime
The time, in microseconds, from a free-running 32-bit binary counter at which CaptureTriggered activated.
Name
Capture.#.Name
You can assign a descriptive name to each capture, making the setup easier to follow. The length of the text string is limited by
the column width with a maximum of 12 characters. Simply double click on the Name field of any capture’s line to assign a
name to it.
Clear Following Error
ClearFollowingError
Clear Following Error is a destination found in the Position group on the Assignments view. When this destination is activated,
any following error that has accumulated will be erased. Following Error is cleared by setting the commanded position to the
feedback position, automatically resulting in a zero following error. The drive will deactivate the Clear Following Error
destination as soon as Following Error is zero.
Commanding Motion
CommandingMotion
This source activates when VelCommand is non-zero.
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