Kollmorgen AKD PDMM series, User Manual

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AKD PDMM User Guide | Setting the Capture Mode (CAP0.MODE)
Option Description
0 - 6 These options trigger on the Digital Input 1 pin through Digital Input 7 pin, respec-
tively.
7- 9 These options trigger on the X9 connector RS485 Input 1 pin through RS485 Input 3
pin, respectively.
10 This option triggers on the primary encoder index.
Setting the Capture Mode (CAP0.MODE)
The capture mode determines what information is saved on the drive when the capture triggers.
Capture mode options:
Option Description
0 – Standard Posi-
tion Captures the motor position in drive units.
1 – Drive Internal
Time Captures the time of the trigger in ns.
2 – Distributed
Clock Time Captures the network (Ethercat) distributed clock time.
3 – Primary
Encoder Signal Captures the motor postion triggering on primary encoder index. This mode auto-
matically rearms after each trigger.
If either 0 - Standard Position or 3 - Primary Encoder Signal is selected, delays may occur and are
associated with feedback devices that are digital or interpolated .
Arming and Retrieving the Capture Value (CAP0.EN and CAP0.T)
CAP0.EN arms the capture and CAP0.T retrieves the capture value. Once you have configured the cap-
ture, you must arm it before it will trigger. Click
Arm (1) to arm the capture.
Once the capture is armed, when it triggers, the captured value will be displayed below the Arm button (2).
Setting the Capture Edge (CAP0.EDGE)
The capture edge determines which input state change triggers the capture.
Capture Edge Options:
Option Description
1 – Rising Edge Captures when the input signal goes high, from a low state.
2 – Falling Edge Captures when the input signal goes low, from a high state.
3 – Both Edges Captures any time the input signal changes state.
Setting the Pre-Condition Event: (CAP0.EVENT)
The Capture Pre-Condition Event gives the user more flexibility in setting what conditions must be
present for the Capture to trigger.
Event Option Description
0 – No precondition Capture triggers as soon as the capture edge occurs.
1 – Trigger Edge after pre-
condition Captures triggers only when the precondition occurs before the capture
edge occurs.
2 – Trigger Edge while pre-
condition = 1 Captures triggers only while the precondition is evaluated and is true
while the capture edge occurs.
3 – Trigger Edge while pre-
condition = 0 Captures triggers only while the precondition is evaluated and is false
while the capture edge occurs.
54 Kollmorgen™ | December 2012