This function enables the capture of an axis' quota photo via hardware (maximum precision).
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i32 pos_capture_cmd (i32 nAx, i32 micro, i32 edge)
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Axis number (1-:-32)
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Transducer type:
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INCREMENTAL ENCODER
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< 0
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Disable capture
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0
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Only channel of 0
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1
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Micro of 0 associated plus channel of 0
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CANopen/EtherCAT Parker - SBC (HID type)
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< 0
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Disable Capture
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0
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Immediate photo of resolver lap start or photo on channel
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1
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input0 on drive
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2
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input1 on drive
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3
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input2 to drive
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CANopen/EtherCAT Parker - SBC (SLVD/TPDM type)
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< 0
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Disable capture
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0
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Immediate photo of resolver lap start or photo on channel
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1
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input0 on drive.
On TPDM, photos can be taken on multiple inputs if this performance is enabled
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EtherCAT Robox IMD20
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< 0
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Disable Capture
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0
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Immediate photo of start of resolver round or photo on channel
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1
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input1 on drive
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2
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input2 on drive
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CANopen/EtherCAT Phase AXM
(requires PLC program on board AXM)
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< 0
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Disable capture
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0
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Immediate photo of resolver lap start or photo on channel
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1
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input0 on drive
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2
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input1 on drive
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3
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input2 to drive
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4
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input3 to drive
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CANopen/EtherCAT Phase Ultract TW
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< 0
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Disable capture. (not yet implemented)
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0
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Immediate photo of resolver lap start or photo on channel
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1
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input0 on drive
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CANopen Sinamics RCB
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-10 -11 -12 -13 -14 -15 -16
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Hardware photo on specified input
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< 0 (different from above)
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Disable capture
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0
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Immediate photo of start of resolver round or photo on channel
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1 -:- 16
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Software photo on specified input. (latency 1 ms)
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Bit flag:
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0
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0x00000001
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0
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Falling edge. (if provided by hw)
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1
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Rising front. (if provided by hw) (used where applicable)
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1
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0x00000002
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1
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Continuous capture
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2
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0x00000004
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1
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Disable photo execution
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3
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0x00000008
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1
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Enables use of micro of 0 plus channel of 0 encoder. (if the hw has encoder channel read input)
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Returns:
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> 0
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Photo ID
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0
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Capture disabled
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< 0
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Error Code
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-1
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Photo hw not executable or error at photo startup or continuous mode not supported
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-2
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Photo already running
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-6
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Illegal axis number
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Rule, Task
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RTE 33.3.4
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To be used in conjunction with the pos_capture_sts() function.
It can be used only with transducers that allow it ie:
•Incremental encoder
•CAN402 with Parker S.B.C. drive type (type HID 1) (requires cot hidrive_ipmode_3)
•CAN402 with Parker S.B.C. drive type (SLVD type 1) (requires cot slvdn_ipmode_3)
•EtherCAT with Parker S.B.C. drive type (needs Unique XML)
•EtherCAT/CANopen with Robox IMD20 drive type
•CAN402 with Sinamics drive type (RCB)
•EtherCAT/CANopen with Phase AXM drive type (requires PLC program loaded on AXM)
•EtherCAT/CANopen with drive type Phase TW (not yet implemented, does not require PLC program loaded on TW)
