AKD Capture Engine Configuration

The AKD capture engine provides a broad range of capabilities for configuration of the capture events.

It is capable of configuring preconditions to allow the application programmer to specify sequential events or conditions that must be met before the capture event can be triggered.
The capture Engine in the AKD is configured with SDO #0x3460 (subindexes 1 to 10).
The AKD supports two capture engines (0 and 1); the application programmer must configure the desired engine.

Sub Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin. #	Function
1	Trigger for capture engine 0.
2	Trigger for capture engine 1.
3	Mode for capture engine 0.
4	Mode for capture engine 1.
5	Capture Event for capture engine 0.
6	Capture Event for capture engine 1.
7	Precondition edge for capture engine 0.
8	Precondition edge for capture engine 1.
9	Preselect for capture engine 0.
10	Preselect for capture engine 1.

AKD Configuration Parameters

These are the configuration parameters for the ADK capture engines.

For more details, see either CAP0.PRESELECT or CAP1.PRESELECT.

Parameter	Description
Capture Edge	Programmed The act of performing a sequence of instructions or commands. in the MC_Reference function block A function block groups an algorithm and a set of private data. It has inputs and outputs..
Capture Event (SDO object #0x3460 subindex engine 0 = 5/engine 1 = 6)	0 = Ignore preconditions. 1 = Trigger edge after the precondition edge. 2 = Trigger edge while precondition = 1. 3 = Trigger edge while precondition = 0.
Capture Mode (SDO object #0x3460 subindex 3/4)	0 = Capture position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different.. 1 = Capture internal time. 2 = Capture EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. distributed time (DCT). 3 = Capture zero angle Mechanical zero angle of the feedback = 0 degree. position.
Capture Precondition Edge (SDO object #0x3460, subindex 7/8)	0 = Reserved. 1 = Precondition with rising edge The transition of a digital signal from low to high. AKA: positive edge.. 2 = Precondition with falling edge. 3 = Precondition with rising and falling edges.
Capture Preselect (SDO object #0x3460 subindex 9/10)	0 = General input 1. 1 = General input 2. … 6 = General input 7. 7 = rs485 input 1. 8 = rs485 input 2. 9 = rs485 input 3. 10 = Primary index. 11 = Tertiary index.
Capture Trigger (SDO object #0x3460 subindex 1/2)	0 = General input 1. 1 = General input 2. … 6 = General input 7. 7 = rs485 input 1. 8 = rs485 input 2. 9 = rs485 input 3. 10 = Primary index. 11 = Tertiary index.

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