Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | 7.6 Using Position Capture
7.6 Using Position Capture
7.6.1 Overview
Position capture allows you to precisely determine what the motor position (or drive clock time) was when
a specific event triggers. The AKD PDMM drive uses two independent captures, which operate similarly.
The descriptions provided in this user guide refer to Capture 0, but also apply to Capture 1.
Position capture is used in precision environments, where the motor may be moving at very high veloc-
ities, an IO is triggered, and you must know exactly where the motor was when the event occurred. Hom-
ing algorithms often use position capture.
Position capture will capture the motor position (or drive clock time) when the capture trigger is activated.
The position capture or drive lock time capture will happen in less than 3 microseconds of the input tran-
sition. This assumes the use of high speed input 1 or 2 with the filter turned off. The capture engine can be
re-armed and ready for another capture in less than 62.6 microseconds. This capture engine allows the
position capture to obtain more accurate results than those obtained using the scope or recorder clock.
7.6.2 Configuring Position Capture
To configure the position capture, select Position Capture from the Settings group:
Setting the Capture Source (CAP0.TRIGGER)
The capture source determines which input on the drive causes the position capture to trigger.
Capture Source Options:
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