Table of Contents - TG Drives
Table of Contents - TG Drives
Table of Contents - TG Drives
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EXTENDED REGISTER GROUPS<br />
CAPTURE, Capture exact time <strong>of</strong> external events<br />
The RD1.Pos at the time <strong>of</strong> the event. The RD1.Pos is<br />
sampled with the FS (currently 1000 Hz) frequency, and<br />
the resulting position is then interpolated from that<br />
position and speed. Captured and interpolated RD1.Pos.<br />
Capture.RPos 4 -2 31 ..2 31 -1 R<br />
Same as Capture.Pos, but affected by PG.PosOffs<br />
Capture.Enable 5 0..3 RW<br />
Control and indicate operation <strong>of</strong> the CAPTURE<br />
mechanism. Capture.Enable is cleared<br />
when the event<br />
occurs and therefore, must be re-enabled every time a<br />
new capture is desired.<br />
Bit0 (1) = 1 Enable this function and PL-code captures interrupt.<br />
Bit0 (1) = 1<br />
Bit1 (2) = 1<br />
The mode for rapidly stopping the motor.<br />
Capture.Speed 6 -32767000 .. 32767000 R<br />
The current value <strong>of</strong> RD1.Speed when the event<br />
occurred. Captured RD1.Speed.<br />
Capture.SetTorque 7 -32767 .. 32767 RW<br />
Capture.SetTorque and<br />
Capture.SetPHDelay values are used during/after the<br />
HSI capture interrupt is executed. The HSI capture<br />
interrupt can be used if a minimum delay start or stop <strong>of</strong><br />
the motor is desired. The interrupt does the following:<br />
OR Reg.Mode, 128 ; Turn <strong>of</strong>f regulator output.<br />
LET Reg.Torque = Capture.SetTorque ; Set user specified torque<br />
LET Motor.PhDelay<br />
= Capture.SetPhDelay ; Set optimum commutation<br />
for fast ACC/DECEL.<br />
; The user Capture interrupt routine is then called to do the<br />
remaining control.<br />
Capture.SetPHDelay 8 -32767 * FS .. 32767 * FS R<br />
See Capture.SetTorque for description.<br />
Capture.GPos 9 -2 31 ..2 31 -1 R<br />
Captured the Gear.Pos interpolated<br />
to the time <strong>of</strong> the<br />
event. The Gear.Pos is sampled with the FS (currently<br />
1000 Hz) frequency, and the resulting position is then<br />
interpolated from that position and speed.<br />
Capture.GSpeed 10 -32767 * FS .. 32767 * FS R<br />
Captured the Gear.Speed to the time <strong>of</strong> the event.<br />
Capture.APos 11 -2 31 ..2 31 -1 R<br />
Captured the Pg.APos at the time <strong>of</strong> the event.<br />
See “Compatibility issue”.<br />
Capture.ASpeed 12 -32767 * FS .. 32767 * FS R<br />
User's Manual 5.1 Inmotion Technologies AB<br />
Doc. No.9032 0027 01 (B), Rev. 11.07.2001<br />
121