56
9.15
Captured Pos
The XENAX® servo controller has two special functions
to read the current position of the motor.
Record function of the actual position controlled by Input
In the WebMotion® menu I/O, you can select the
record function CPOS for all digital inputs 1-4.
Reaction time > 4 ms.
(Input 1 = Pos Input 1 etc.
ASCII command: TCPn (n = register number)
Record function of the actual position controlled by edge
With each increasing edge at input 4, the current
position of the motor is written in a buffer register
(Start is Captured Pos 1).
Reaction time ~ 4-
6μs.
(First edge position = Captured Pos 1 etc.)
ASCII command: TCPn (n = register number)
Function is available over Jenny Science bus module in
asynchronous operation, too.
Object Sub Idx
ASCII
5000h 0x5010 CLCP Clear all Captured Position
CLCP
0x5015 Captured Position Mode Input 4
CP40
0x5016 Captured Position Mode Input 1..4
CP41
5003h 0x37
Read Buffer Position (1..8)
TCPn (n=1..8)
0x38
Return of value
