Table of Contents - TG Drives

120
EXTENDED REGISTER GROUPS
CAPTURE, Capture exact time of external events
Target = Capture.RPos + 25000
pos abs Target
wait PG.Rdy
return
GROUP MEMBERS (GROUP 14)
Group.Member Member
No.
;corrected target
;move to captured position+25000
;
;one shot wanted
Range Ability Default
Capture.Mode 0 0..3 RW
Bit0, Bit1 Capture mode setting. DMC1 had mode 0 with a prescaler
on the capture input (divide by 8).
THIS MODE IS NOT SUPPORTED IN DMC 2 .
Capture mode AND 1 = Capture positive edge.
Capture mode AND 2 = Capture positive edge.
Capture mode AND 3 = Capture every edge.
Bit0(1) Capture positive edges.
Bit1(2) Capture negative edges.
Bit2 (4)
Added mode bit2, this bit indicate how the
Capture.FTime is to be displayed.
Bit2 (4) = 0
Standard display as old DMC, in microseconds.
Capture.FTime is displayed
as the fractional part of
Tmr.Abs.
Bit2 (4) = 1 Display Capture.FTime as a signed difference between
the event and the RD sample point, with 100ns resolution.
When the value is negative the event actually occurred in
the previous servo cycle. This value is better suited for
your own interpolations written in PL-code.
i
All Tmr.Abs and position interpolation is done as in
standard display mode. The display mode can be
modified and the Capture.FTime member reread.
Bit 3 This bit selects the input that triggers a capture.
Bit 3 = 0 (0) Select In.DI1 to trigger a capture. Default at startup.
Bit 3 = 1 (8) Select ENC_REF to trigger a capture. (X6B connector)
Capture.Time 1 -2 31 ..2 31 -1 R
The captured Tmr.Abs time is adjusted
depending on
whether the event occurred before or after the resolver
sampling point (Rd1).
Capture.FTime 2 0..FS-1 R
The captured Tmr.Abs time is adjusted
depending on
whether the event occurred before or after the resolver
sampling point (Rd1).
Capture.Pos 3 -2 31 ..2 31 -1 R
User's Manual 5.1 Inmotion Technologies AB
Doc. No.9032 0027 01 (B), Rev. 11.07.2001