AKD Capture Engine Configuration

The AKD capture engine provides a broad range of capabilities for configuration of the capture event(s). Furthermore, 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 #	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

The following section details the configuration parameters for the ADK capture engines.

• 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 edge – capture edge is programmed in the MC_Reference function block.
• 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

  For more details, refer to CAP0.PRESELECT, CAP1.PRESELECT section.

• Capture precondition edge (SDO object #0x3460, subindex 7/8 )
  • 0 = reserved
  • 1 = precondition with rising edge A rising edge is the transition of a digital signal from low to high. It is also called 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 mode (SDO object #0x3460 subindex 3/4 )
  • 0 = capture position
  • 1 = capture internal time
  • 2 = capture EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 position