4. Motion Control Instructions Note: When the instruction is used for position capture in mode 1, D6527 value is the pulse number that servo motor feeds back to servo drive and the data type is 32-bit signed number. The instruction utilizes I0 for position capture in mode 10, D6529 value is the pulse number received at the encoder interface of 10MC and the data type is 32-bit signed number. 4. Introduction to WindowOnly When WindowOnly =1, FirstPos and LastPos are valid, which regards the actual terminal actuator position as the reference point when “Execute” turns Off -> On.
In the following figure, FirstPos and LastPos are 100 and 300 respectively and the actual terminal actuator position is 100 when “Execute” turns Off -> On. And so when the actual actuator position is between 200~400, the actual position of the terminal actuator just can be captured by triggering of the rising edge of TriggerInput bit or DI7 of servo drive. When the actual position of the terminal actuator is out of the window, the triggering of the rising edge of the “TriggerInput” bit is invalid.
When the actual position of terminal actuator is above the lastPos and the rising edge of “TriggerInput” bit is not detected, “Error” bit of CapturePosition instruction is on; position capture could be done again by triggering of the rising edge of “TriggerInput” bit after “Execute” turns Off -> On again. DVP-MC operating manual 4-97