ENCAPI0 Enable 1st capture/encoder index input to detect a high to low transition |
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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 |