Delta ASDA-B3 Series, Руководство пользователя

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Motion Control ASDA-B3
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7.2.2 High-speed position capture function (Capture)
The high-speed position capturing function (CAP) uses the external-triggered high-speed digital
input DI3 (B3-F, M) or DI7 (B3-L) (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
DI signal for the capture signal (the DI is not user-defined).
The flowchart for high-speed position capturing is shown in Figure 7.2.2.1. The relevant
parameters are defined as follows. P5.036 sets the start position in the data array for storing the
captured data; 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 position for storing the captured position data is still determined by P5.036;
that is, the captured data in the 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, 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, the 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 the
Capture axis’ position to the value of P5.076.
2 Reserved -
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: reserved
2: CN1
3: CN2
Z - Trigger logic
0: NO (normally open)
1: NC (normally closed)
U - Minimum trigger interval (ms) -