CAP0.MODE, CAP1.MODE

Description

Mode 0: Standard Position

Mode 0 is the standard position capture. The source of the captured position is determined by CAP0.FBSOURCE, CAP1.FBSOURCE. Data can be retrieved with CAP0.PLFB, CAP1.PLFB .

Mode 1: Drive Internal Time

Mode 1 is the drive internal time capture. Data can be retrieved with CAP0.T, CAP1.T .

Mode 2: Distributed Clock Time

Mode 2 is the KAS EtherCAT distributed clock time (DCT) capture. Instead of using a position value, the DCT is calculated. There is no user parameter to retrieve the captured DCT. Attempting to set Mode = 2 with anything other than an EtherCAT system will result in an invalid parameter error.

Mode 3: Primary Encoder Signal

Mode 3 is the capture of the primary encoder signal. This mode is used to home onto a feedback index. This mode sets the other parameters needed for this mode. These parameters can be changed later, but this is not recommended unless the input source of the index signal varies. Parameters set in this mode are:

  • CAPx.TRIGGER 10: index mark of primary encoder
  • CAPx.EDGE 1: rising edge
  • CAPx.EVENT 0: ignore precondition

Also the capture engine is immediately enabled and is continuously triggered again.

Mode 4: Auto-Armed Position

Mode 4 is similar to Mode 0 (standard position capture), except that the re-enabling of the capture is done automatically. This mode can be used for the registration move.

General Information

Type

NV Parameter

Units

N/A

Range

0 to 4

Default Value

0

Data Type

U8

Start Version

M_01-00-00-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC Yes
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD PROFINET Yes
AKD Sercos® III Yes
AKD-N Yes
AKD-C No

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see SynqNet Supported Parameters.

EtherCAT CoE and CANopen
Index/Subindex Object Start Version

3460h/3

CAP0.MODE

 M_01-00-00-000

3460h/4

CAP1.MODE
PROFINET and Sercos® III
Parameter Fieldbus Address Attributes Signed?
CAP0.MODE

PROFINET

2031 Byte No
Sercos® III 2 Octets
CAP1.MODE

PROFINET

2044 Byte
Sercos® III 2 Octets
EtherNet/IP
Parameter Instance Data Size Data Type
CAP0.MODE 32 1 Byte Integer
CAP1.MODE 45
Modbus
Parameter Register Address Is 64 bit? Attributes Signed? Object Start Version

CAP0.MODE

 62 No 8 bit No M_01-03-00-000

CAP1.MODE

 88

Related Topics

Using Position Capture