Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-62
Revision December, 2017
7
7.2.2 High-speed position capturing function (Capture)
The high-speed position capturing 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 (D17 is not user-defined).
The flow chart for high-speed position capturing is shown in Figure 7.2.2.1. The relevant
parameters are defined as follows. P5.036 stores the start position for capturing in the data array;
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 capturing
position is still determined by P5.036; that is, the captured data in previous cycle is replaced 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, you can
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 bit Function Description
X
0 Enable Capture function
When P5.038 > 0 and bit 0 = 1, the capturing starts
and DO.CAP_OK is off. Each time a position is
captured, value of P5.038 is decremented by 1.
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 is
captured
If bit 1 = 1, after the first data is captured, set
Capture axis‟ position to the value of P5.076.
2
Enable Compare function after
first data is captured
If bit 2 = 1, when the first data is captured, enable
the Compare function (P5.059.X bit 0 = 1 and
P5.058 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.
Y - Source of Capture axis
0: disabled
1: auxiliary encoder (CN5)
2: pulse command (CN1)
3: main motor encoder (CN2)
Z - Trigger logic
0: NO (normally open) 1
：
NC (normally closed)
U - Minimum trigger interval (ms) -