The IPA has two Capture Registers and can performance high speed captures on both the primary/motor encoder (ENC0) and the aux/secondary encoder (ENC1). The table below defines what inputs can trigger the captures. Mode is used by the INTCAP, MSEEK, HSINT, CAM ON TRG and GEAR ON TRG commands to tells the controller which input is triggering the capture.
Capture Register: Specifies which register is armed to hold the captured position.
If the hardware capture register is not specified, the hardware capture register index is the same as the feedback encoder index of the axis used to enable the hardware capture. The capture complete flag and hardware capture parameter for the encoder capture is selected based on the axis used to enable the hardware capture.
If the hardware capture register is specified then the capture parameter must also be specified. The capture complete flags and hardware capture parameters are still in pairs, but are not based on the axis used to enable the hardware capture.
|2||+INP 5||+INP 6|
|3||+INP 6||+INP 5|
|7||-INP 6||-INP 5|
|10||+INP 4||+INP 4|
|11||+INP 4||+INP 4|
|14||-INP 4||-INP 4|
|15||-INP 4||-INP 4|