Table of Contents - TG Drives

118
CAPTURE, Capture exact time of external events
EXTENDED REGISTER GROUPS
CAPTURE, CAPTURE EXACT TIME OF
EXTERNAL EVENTS
Group Group
No.
Description
Capture 14 The Capture group is
used to capture a precise
time for an external event. For the DMC
In.DI1 input pin.
In.DI1.
Capture function is
In.Level param
2 the capture
signal is parallel to the
It is possible to reroute the capture function to use
the Encoder reference input, by setting
capture.mode = 8. However, since the response time
of this signal is typically in the microsecond region, it
is not certain that an event seen on the capture input
is seen on the
The not affected by the
eter.
GENERAL
The capture function is intended for fast detection of an external event. The time,
speed and position are sampled and saved for later use when this event occurs.
Figure 7. The capture uses a real HW interrupt within the processor.
This can be used for ”flying calibration of movements” to increase the accuracy.
Capture event
Event occured before the sample point
Event occured after the sample point
Capture event
Resolver sample point is defined by the RD1.Mode setting
Time
Figure 7. Timing chart for Capture event.
COMPATIBILITY DMC1 TO DMC 2
The captured Pg values, Pg.APos and Pg.ASpeed are now sampled when the
capture event is handled. The old DMC used a one servo cycle newer value. This
may affect applications that used Capture.APos or Capture.ASpeed.
The Capture.Enable mode bit 1, ’Auto apply SetTorque and SetPhDelay’ for rapidly
stopping the motor, is implemented but does not respond quickly.
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001