Products: ACR9000, 9030,9040,9600,9630,9640
Supplement to INTCAP command in ACR Command Language Reference.
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.
In this example, ENC1 is attached to AXIS1, therefore the default Capture Register is 1
AXIS1 INTCAP 2
REM Rising First External -- Inp 25
REM Hardware Capture Parameter -- P12548
REM Capture Complete Flag -- BIT809
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.
AXIS1 INTCAP 10 CAP3 P13060
REM Rising Third External -- Inp 25
REM Hardware Capture Parameter -- P13060
REM Capture Complete Flag -- BIT873
Table Key
MRK= Encoder Z Mark
INP=Digital Input
+ = Rising Edge
- = Falling Edge
| SRC | ENC0,1,2,3,8 | ENC4,5,6,7,9 | EPLD | |||||||
| Aries-PE | Compax3 | |||||||||
| capture_ register | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 0 | 0 |
| Mode | ||||||||||
| 0 | +MRK 0 | +MRK 1 | +MRK 2 | +MRK 3 | +MRK 4 | +MRK 5 | +MRK 6 | +MRK 7 | +MRK 0 | |
| 1 | +MRK 1 | +MRK 0 | +MRK 3 | +MRK 2 | +MRK 5 | +MRK 4 | +MRK 7 | +MRK 6 | ||
| 2 | +INP 24 | +INP 25 | +INP 26 | +INP 27 | +INP 72 | +INP 73 | +INP 74 | +INP 75 | +INP 5 | +INP 0 |
| 3 | +INP 25 | +INP 24 | +INP 27 | +INP 26 | +INP 73 | +INP 72 | +INP 75 | +INP 74 | +INP 6 | +INP 1 |
| 4 | -MRK 0 | -MRK 1 | -MRK 2 | -MRK 3 | -MRK 4 | -MRK 5 | -MRK 6 | -MRK 7 | -MRK 0 | |
| 5 | -MRK 1 | -MRK 0 | -MRK 3 | -MRK 2 | -MRK 5 | -MRK 4 | -MRK 7 | -MRK 6 | ||
| 6 | -INP 24 | -INP 25 | -INP 26 | -INP 27 | -INP 72 | -INP 73 | -INP 74 | -INP 75 | -INP 5 | -INP 0 |
| 7 | -INP 25 | -INP 24 | -INP 27 | -INP 26 | -INP 73 | -INP 72 | -INP 75 | -INP 74 | -INP 6 | -INP 1 |
| 8 | +MRK 2 | +MRK 3 | +MRK 0 | +MRK 1 | +MRK 6 | +MRK 7 | +MRK 4 | +MRK 5 | ||
| 9 | +MRK 3 | +MRK 2 | +MRK 1 | +MRK 0 | +MRK 7 | +MRK 6 | +MRK 5 | +MRK 4 | ||
| 10 | +INP 26 | +INP 27 | +INP 24 | +INP 25 | +INP 74 | +INP 75 | +INP 72 | +INP 73 | +INP 4 | +INP 2 |
| 11 | +INP 27 | +INP 26 | +INP 25 | +INP 24 | +INP 75 | +INP 74 | +INP 73 | +INP 72 | +INP 3 | |
| 12 | -MRK 2 | -MRK 3 | -MRK 0 | -MRK 1 | -MRK 6 | -MRK 7 | -MRK 4 | -MRK 5 | ||
| 13 | -MRK 3 | -MRK 2 | -MRK 1 | -MRK 0 | -MRK 7 | -MRK 6 | -MRK 5 | -MRK 4 | ||
| 14 | -INP 26 | -INP 27 | -INP 24 | -INP 25 | -INP 74 | -INP 75 | -INP 72 | -INP 73 | -INP 4 | -INP 2 |
| 15 | -INP 27 | -INP 26 | -INP 25 | -INP 24 | -INP 75 | -INP 74 | -INP 73 | -INP 72 | -INP 3 | |
| 16 | +MRK 8 | +MRK 8 | +MRK 8 | +MRK 8 | +MRK 9 | +MRK 9 | +MRK 9 | +MRK 9 | ||
| 18 | +INP 28 | +INP 29 | +INP 30 | +INP 31 | +INP 76 | +INP 77 | +INP 78 | +INP 79 | +INP 4 | |
| 19 | +INP 29 | +INP 28 | +INP 31 | +INP 30 | +INP 77 | +INP 76 | +INP 79 | +INP 78 | +INP 5 | |
| 20 | -MRK 8 | -MRK 8 | -MRK 8 | -MRK 8 | -MRK 9 | -MRK 9 | -MRK 9 | -MRK 9 | ||
| 22 | -INP 28 | -INP 29 | -INP 30 | -INP 31 | -INP 76 | -INP 77 | -INP 78 | -INP 79 | -INP 4 | |
| 23 | -INP 29 | -INP 28 | -INP 31 | -INP 30 | -INP 77 | -INP 76 | -INP 79 | -INP 78 | -INP 5 | |
| 26 | +INP 30 | +INP 31 | +INP 28 | +INP 29 | +INP 78 | +INP 79 | +INP 76 | +INP 77 | +INP 6 | |
| 27 | +INP 31 | +INP 30 | +INP 29 | +INP 28 | +INP 79 | +INP 78 | +INP 77 | +INP 76 | +INP 7 | |
| 30 | -INP 30 | -INP 31 | -INP 28 | -INP 29 | -INP 78 | -INP 79 | -INP 76 | -INP 77 | -INP 6 | |
| 31 | -INP 31 | -INP 30 | -INP 29 | -INP 28 | -INP 79 | -INP 78 | -INP 77 | -INP 76 | -INP 7 | |
| Axis | Capture Complete Flag | Hardware Capture Position |
| 0 | 777 | 12292 |
| 1 | 809 | 12548 |
| 2 | 841 | 12804 |
| 3 | 873 | 13060 |
| 4 | 905 | 13316 |
| 5 | 937 | 13572 |
| 6 | 969 | 13828 |
| 7 | 1001 | 14084 |
| 8 | 7689 | 14340 |
| 9 | 7721 | 14596 |
| 10 | 7753 | 14852 |
| 11 | 7785 | 15108 |
| 12 | 7817 | 15364 |
| 13 | 7849 | 15620 |
| 14 | 7881 | 15876 |
| 15 | 7913 | 16132 |
jw updated 07-Dec-2012