Syntax
ENCAPI0 |
Enable CAPture Index 1->0 |
| Operands | – |
Binary code
| Description | Enables 1st capture/encoder index input capability to detect a transition from 1(high) to 0(low). When the first transition occurs: |
| • | The input capability to detect transitions is disabled. It must be enabled again to detect another transition |
| • | Motor position APOS_MT is captured and memorized in the TML variable CAPPOS, except the case of open-loop systems, where reference position TPOS is captured instead |
| • | Master position APOS2 or load position APOS_LD is captured and memorized in the TML variable CAPPOS2, except the case of steppers controlled open loop with an encoder on the load, when load position is captured in CAPPOS. |
The selection between master and load position is done as follows: load position is saved in CAPPOS2 only for the setup configurations which use different sensors for load and motor and foresee a transmission ratio between them. For all the other setup configurations, the master position is saved in CAPPOS2.
Example
//Stop motion on next 1st encoder index
ENCAPI0; //Set event: When the 1st encoder index goes high->low
!CAP;
STOP!;//Stop the motion when event occurs
WAIT!;//Wait until the event occurs
CPOS = CAPPOS; // new command position = captured position
CPA; //position command is absolute
MODE PP;
TUM1; //set Target Update Mode 1
UPD; //execute immediate
!MC; WAIT!; //wait for completion