Position Capture via Signal Input (Vendor-Specific Profile)

Description

The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

3 Capture inputs are available.

oCapture input: DI0/CAP1

oCapture input: DI1/CAP2

oCapture input: DI2/CAP3

Selection of the Method

The motor position can be captured in 2 different ways:

oOne-time position capture

One-time capture means that the position is captured at the first edge.

oContinuous motor position capture

Continuous capture means that the motor position is captured anew at every edge. The previously captured value is lost.

The motor position can be captured when the edge at the Capture input rises or falls.

Accuracy

A jitter of 2 µs results in an inaccuracy of the captured position of approximately 13.2 user-defined units at a velocity of 3000 RPM.

(3000 RPM = (3000*131072)/(60*10⁶) = 6.6 usr_p/µs)

If the factory settings for scaling are used, 13.2 user-defined units correspond to 0.036 °.

The captured motor position is less accurate during the acceleration phase and the deceleration phase.

Overview of the Parameters

The following table shows an overview of the parameters for one-time capture:

Step	Input CAP1	Input CAP2	Input CAP3
Capture input encoder source	Cap1Source	Cap2Source	Cap3Source
Capture input configuration	Cap1Config	Cap2Config	Cap2Config
Capture input capture input start/stop	SPDSercos3Control⁽¹⁾		Cap3Activate
Capture input captured position	Cap1Pos⁽¹⁾	Cap2Pos⁽¹⁾	Cap3Pos⁽¹⁾
Capture input status	_SPDSercos3Status⁽¹⁾		_CapStatus⁽¹⁾
(1) Parameter is mappable

The following table shows an overview of the parameters for continuous capture:

Step	Input CAP1	Input CAP2	Input CAP3
Capture input encoder source	Cap1Source	Cap2Source	Cap3Source
Capture input configuration	Cap1Config	Cap2Config	Cap2Config
Capture input start/stop	Cap1Activate	Cap2Activate	Cap3Activate
Capture input event counter⁽¹⁾	Cap1CountCons⁽²⁾	Cap2CountCons⁽²⁾	Cap3CountCons⁽²⁾
Capture input captured position	Cap1PosCons⁽²⁾	Cap2PosCons⁽²⁾	Cap3PosCons⁽²⁾
Capture input status	_CapStatus⁽²⁾
(1) By reading this parameter, the corresponding parameter for the position is updated and locked so it cannot be changed. Both parameter values remain consistent. (2) Parameter is mappable

Setting the Source

The following parameters let you set the source for position capture.

oSet the source for position capture with the parameters Cap1Source, Cap2Source and Cap3Source.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
Cap1Source	Capture input 1 encoder source. 0 / Pact Encoder 1: Source for capture input 1 is Pact of encoder 1 1 / Pact Encoder 2: Source for capture input 1 is Pact of encoder 2 (module) Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 1	UINT16 R/W - -	Modbus 2580 IDN P-0-3010.0.10
Cap2Source	Capture input 2 encoder source. 0 / Pact Encoder 1: Source for capture input 2 is Pact of encoder 1 1 / Pact Encoder 2: Source for capture input 2 is Pact of encoder 2 (module) Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 1	UINT16 R/W - -	Modbus 2582 IDN P-0-3010.0.11
Cap3Source	Capture input 3 encoder source. 0 / Pact Encoder 1: Source for capture input 3 is Pact of encoder 1 1 / Pact Encoder 2: Source for capture input 3 is Pact of encoder 2 (module) Available with hardware version ≥RS03. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 1	UINT16 R/W - -	Modbus 2602 IDN P-0-3010.0.21

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

Cap1Source

Capture input 1 encoder source.

0 / Pact Encoder 1: Source for capture input 1 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 1 is Pact of encoder 2 (module)

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2580

IDN P-0-3010.0.10

Cap2Source

Capture input 2 encoder source.

0 / Pact Encoder 1: Source for capture input 2 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 2 is Pact of encoder 2 (module)

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2582

IDN P-0-3010.0.11

Cap3Source

Capture input 3 encoder source.

0 / Pact Encoder 1: Source for capture input 3 is Pact of encoder 1

1 / Pact Encoder 2: Source for capture input 3 is Pact of encoder 2 (module)

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2602

IDN P-0-3010.0.21

Setting the Edge

The following parameters let you set the edge for position capture.

oSet the desired edge with the parameters Cap1Config, Cap2Config and Cap3Config.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
Cap1Config	Capture input 1 configuration. 0 / Falling Edge: Position capture at falling edge 1 / Rising Edge: Position capture at rising edge 2 / Both Edges: Position capture at both edges Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 2	UINT16 R/W - -	Modbus 2564 IDN P-0-3010.0.2
Cap2Config	Capture input 2 configuration. 0 / Falling Edge: Position capture at falling edge 1 / Rising Edge: Position capture at rising edge 2 / Both Edges: Position capture at both edges Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 2	UINT16 R/W - -	Modbus 2566 IDN P-0-3010.0.3
Cap3Config	Capture input 3 configuration. 0 / Falling Edge: Position capture at falling edge 1 / Rising Edge: Position capture at rising edge Available with hardware version ≥RS03. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 0 1	UINT16 R/W - -	Modbus 2594 IDN P-0-3010.0.17

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

Cap1Config

Capture input 1 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

2 / Both Edges: Position capture at both edges

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2564

IDN P-0-3010.0.2

Cap2Config

Capture input 2 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

2 / Both Edges: Position capture at both edges

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2566

IDN P-0-3010.0.3

Cap3Config

Capture input 3 configuration.

0 / Falling Edge: Position capture at falling edge

1 / Rising Edge: Position capture at rising edge

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2594

IDN P-0-3010.0.17

Starting Position Capture

The following parameters let you start position capture.

Real-time channel:

oSet the desired method with the parameter SPDSercos3Control.

Acyclical channel:

oSet the desired method with the parameters Cap1Activate and Cap2Activate and Cap3Activate.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
SPDSercos3Control	SPD Sercos control (CAP1 and CAP2). Bit 0 = 0: Cancel capture function Bit 0 = 1: Start one-time capture via input CAP1 Bit 1 = 0: Cancel capture function Bit 1 = 1: Start one-time capture via input CAP2 Bits 2 … 15: Reserved Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- - - -	UINT16 R/W - -	Modbus 6560 IDN P-0-3025.0.80
Cap1Activate	Capture input 1 start/stop. 0 / Capture Stop: Cancel capture function 1 / Capture Once: Start one-time capture 2 / Capture Continuous: Start continuous capture 3 / Reserved: Reserved 4 / Reserved: Reserved In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 - 4	UINT16 R/W - -	Modbus 2568 IDN P-0-3010.0.4
Cap2Activate	Capture input 2 start/stop. 0 / Capture Stop: Cancel capture function 1 / Capture Once: Start one-time capture 2 / Capture Continuous: Start continuous capture 3 / Reserved: Reserved 4 / Reserved: Reserved In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 - 4	UINT16 R/W - -	Modbus 2570 IDN P-0-3010.0.5
Cap3Activate	Capture input 3 start/stop. 0 / Capture Stop: Cancel capture function 1 / Capture Once: Start one-time capture 2 / Capture Continuous: Start continuous capture In the case of one-time capture, the function is terminated when the first value is captured. In the case of continuous capture, the function continues to run. Available with hardware version ≥RS03. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective immediately.	- 0 - 2	UINT16 R/W - -	Modbus 2596 IDN P-0-3010.0.18

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

SPDSercos3Control

SPD Sercos control (CAP1 and CAP2).

Bit 0 = 0: Cancel capture function

Bit 0 = 1: Start one-time capture via input CAP1

Bit 1 = 0: Cancel capture function

Bit 1 = 1: Start one-time capture via input CAP2

Bits 2 … 15: Reserved

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 6560

IDN P-0-3025.0.80

Cap1Activate

Capture input 1 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

3 / Reserved: Reserved

4 / Reserved: Reserved

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2568

IDN P-0-3010.0.4

Cap2Activate

Capture input 2 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

3 / Reserved: Reserved

4 / Reserved: Reserved

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2570

IDN P-0-3010.0.5

Cap3Activate

Capture input 3 start/stop.

0 / Capture Stop: Cancel capture function

1 / Capture Once: Start one-time capture

2 / Capture Continuous: Start continuous capture

In the case of one-time capture, the function is terminated when the first value is captured.

In the case of continuous capture, the function continues to run.

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective immediately.

UINT16

R/W

Modbus 2596

IDN P-0-3010.0.18

Status Messages

Real-time channel:

oThe parameter SPDSercos3Status indicates the capture status.

Acyclical channel:

oThe parameter _CapStatus indicates the capture status.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
_SPDSercos3Status	SPD Sercos status (CAP1 and CAP2). Bit 0 = 0: No position captured via input CAP1 Bit 0 = 1: Position captured via input CAP1 Bit 1 = 0: No position captured via input CAP2 Bit 1 = 1: Position captured via input CAP2 Bit 2 = 0: Positive limit switch not active Bit 2 = 1: Positive limit switch active Bit 3 = 0: Negative limit switch not active Bit 3 = 1: Negative limit switch active Bit 4 = 0: Quick Stop: Standstill not yet reached Bit 4 = 1: Quick Stop: Standstill reached Type: Unsigned decimal - 2 bytes Modified settings become effective immediately.	- - - -	UINT16 R/- - -	Modbus 6562 IDN P-0-3025.0.81
_CapStatus	Status of the capture inputs. Read access: Bit 0: Position captured via input CAP1 Bit 1: Position captured via input CAP2 Bit 2: Position captured via input CAP3 Type: Unsigned decimal - 2 bytes	- - - -	UINT16 R/- - -	Modbus 2562 IDN P-0-3010.0.1

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_SPDSercos3Status

SPD Sercos status (CAP1 and CAP2).

Bit 0 = 0: No position captured via input CAP1

Bit 0 = 1: Position captured via input CAP1

Bit 1 = 0: No position captured via input CAP2

Bit 1 = 1: Position captured via input CAP2

Bit 2 = 0: Positive limit switch not active

Bit 2 = 1: Positive limit switch active

Bit 3 = 0: Negative limit switch not active

Bit 3 = 1: Negative limit switch active

Bit 4 = 0: Quick Stop: Standstill not yet reached

Bit 4 = 1: Quick Stop: Standstill reached

Type: Unsigned decimal - 2 bytes

Modified settings become effective immediately.

UINT16

R/-

Modbus 6562

IDN P-0-3025.0.81

_CapStatus

Status of the capture inputs.

Read access:

Bit 0: Position captured via input CAP1

Bit 1: Position captured via input CAP2

Bit 2: Position captured via input CAP3

Type: Unsigned decimal - 2 bytes

UINT16

R/-

Modbus 2562

IDN P-0-3010.0.1

Captured Position

The captured positions for one-time capture can be read via the following parameters:

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
_Cap1Pos	Capture input 1 captured position (one-time). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2572 IDN P-0-3010.0.6
_Cap2Pos	Capture input 2 captured position (one-time). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2574 IDN P-0-3010.0.7
_Cap3Pos	Capture input 3 captured position (one-time). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". Available with hardware version ≥RS03. Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2598 IDN P-0-3010.0.19

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_Cap1Pos

Capture input 1 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2572

IDN P-0-3010.0.6

_Cap2Pos

Capture input 2 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2574

IDN P-0-3010.0.7

_Cap3Pos

Capture input 3 captured position (one-time).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

Available with hardware version ≥RS03.

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2598

IDN P-0-3010.0.19

The captured positions for continuous capture can be read via the following parameters:

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
_Cap1CountCons	Capture input 1 event counter (continuous). Counts the capture events. The event counter is reset when capture input 1 is activated. By reading this parameter, the parameter "_Cap1PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent. Type: Unsigned decimal - 2 bytes	- - - -	UINT16 R/- - -	Modbus 2606 IDN P-0-3010.0.23
_Cap1PosCons	Capture input 1 captured position (continuous). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". By reading the parameter "_Cap1CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent. Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2608 IDN P-0-3010.0.24
_Cap2CountCons	Capture input 2 event counter (continuous). Counts the capture events. The event counter is reset when capture input 2 is activated. By reading this parameter, the parameter "_Cap2PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent. Type: Unsigned decimal - 2 bytes	- - - -	UINT16 R/- - -	Modbus 2610 IDN P-0-3010.0.25
_Cap2PosCons	Capture input 2 captured position (continuous). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". By reading the parameter "_Cap2CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent. Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2612 IDN P-0-3010.0.26
_Cap3CountCons	Capture input 3 event counter (continuous). Counts the capture events. The event counter is reset when capture input 3 is activated. By reading this parameter, the parameter "_Cap3PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent. Available with hardware version ≥RS03. Type: Unsigned decimal - 2 bytes	- - - -	UINT16 R/- - -	Modbus 2614 IDN P-0-3010.0.27
_Cap3PosCons	Capture input 3 captured position (continuous). Captured position at the time of the "capture signal". The captured position is re-calculated after "Position Setting" or "Reference Movement". By reading the parameter "_Cap3CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent. Available with hardware version ≥RS03. Type: Signed decimal - 4 bytes	usr_p - - -	INT32 R/- - -	Modbus 2616 IDN P-0-3010.0.28

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_Cap1CountCons

Capture input 1 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 1 is activated.

By reading this parameter, the parameter "_Cap1PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Unsigned decimal - 2 bytes

UINT16

R/-

Modbus 2606

IDN P-0-3010.0.23

_Cap1PosCons

Capture input 1 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap1CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2608

IDN P-0-3010.0.24

_Cap2CountCons

Capture input 2 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 2 is activated.

By reading this parameter, the parameter "_Cap2PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Unsigned decimal - 2 bytes

UINT16

R/-

Modbus 2610

IDN P-0-3010.0.25

_Cap2PosCons

Capture input 2 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap2CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2612

IDN P-0-3010.0.26

_Cap3CountCons

Capture input 3 event counter (continuous).

Counts the capture events.

The event counter is reset when capture input 3 is activated.

By reading this parameter, the parameter "_Cap3PosCons" is updated and locked so it cannot be changed. Both parameter values remain consistent.

Available with hardware version ≥RS03.

Type: Unsigned decimal - 2 bytes

UINT16

R/-

Modbus 2614

IDN P-0-3010.0.27

_Cap3PosCons

Capture input 3 captured position (continuous).

Captured position at the time of the "capture signal".

The captured position is re-calculated after "Position Setting" or "Reference Movement".

By reading the parameter "_Cap3CountCons", this parameter is updated and locked so it cannot be changed. Both parameter values remain consistent.

Available with hardware version ≥RS03.

Type: Signed decimal - 4 bytes

usr_p

INT32

R/-

Modbus 2616

IDN P-0-3010.0.28