INTCAP

Products: ACR9000, 9030,9040,9600,9630,9640

Supplement to INTCAP command in ACR Command Language Reference.

Capture Register: Specifies which register is armed to hold the captured position.
If the hardware capture register is not specified, the hardware capture register index is the same as the feedback encoder index of the axis used to enable the hardware capture. The capture complete flag and hardware capture parameter for the encoder capture is selected based on the axis used to enable the hardware capture.

In this example, ENC1 is attached to AXIS1, therefore the default Capture Register is 1

AXIS1 INTCAP 2

REM Rising First External -- Inp 25

REM Hardware Capture Parameter -- P12548

REM Capture Complete Flag -- BIT809

If the hardware capture register is specified then the capture parameter must also be specified. The capture complete flags and hardware capture parameters are still in pairs, but are not based on the axis used to enable the hardware capture.

AXIS1 INTCAP 10 CAP3 P13060

REM Rising Third External -- Inp 25

REM Hardware Capture Parameter -- P13060

REM Capture Complete Flag -- BIT873

Table Key

MRK= Encoder Z Mark

INP=Digital Input

+ = Rising Edge

= Falling Edge

SRC	ENC0,1,2,3,8				ENC4,5,6,7,9				EPLD
SRC	ENC0,1,2,3,8				ENC4,5,6,7,9				Aries-PE	Compax3
capture_ register	0	1	2	3	4	5	6	7	0	0
Mode
0	+MRK 0	+MRK 1	+MRK 2	+MRK 3	+MRK 4	+MRK 5	+MRK 6	+MRK 7	+MRK 0
1	+MRK 1	+MRK 0	+MRK 3	+MRK 2	+MRK 5	+MRK 4	+MRK 7	+MRK 6
2	+INP 24	+INP 25	+INP 26	+INP 27	+INP 72	+INP 73	+INP 74	+INP 75	+INP 5	+INP 0
3	+INP 25	+INP 24	+INP 27	+INP 26	+INP 73	+INP 72	+INP 75	+INP 74	+INP 6	+INP 1
4	-MRK 0	-MRK 1	-MRK 2	-MRK 3	-MRK 4	-MRK 5	-MRK 6	-MRK 7	-MRK 0
5	-MRK 1	-MRK 0	-MRK 3	-MRK 2	-MRK 5	-MRK 4	-MRK 7	-MRK 6
6	-INP 24	-INP 25	-INP 26	-INP 27	-INP 72	-INP 73	-INP 74	-INP 75	-INP 5	-INP 0
7	-INP 25	-INP 24	-INP 27	-INP 26	-INP 73	-INP 72	-INP 75	-INP 74	-INP 6	-INP 1
8	+MRK 2	+MRK 3	+MRK 0	+MRK 1	+MRK 6	+MRK 7	+MRK 4	+MRK 5
9	+MRK 3	+MRK 2	+MRK 1	+MRK 0	+MRK 7	+MRK 6	+MRK 5	+MRK 4
10	+INP 26	+INP 27	+INP 24	+INP 25	+INP 74	+INP 75	+INP 72	+INP 73	+INP 4	+INP 2
11	+INP 27	+INP 26	+INP 25	+INP 24	+INP 75	+INP 74	+INP 73	+INP 72		+INP 3
12	-MRK 2	-MRK 3	-MRK 0	-MRK 1	-MRK 6	-MRK 7	-MRK 4	-MRK 5
13	-MRK 3	-MRK 2	-MRK 1	-MRK 0	-MRK 7	-MRK 6	-MRK 5	-MRK 4
14	-INP 26	-INP 27	-INP 24	-INP 25	-INP 74	-INP 75	-INP 72	-INP 73	-INP 4	-INP 2
15	-INP 27	-INP 26	-INP 25	-INP 24	-INP 75	-INP 74	-INP 73	-INP 72		-INP 3
16	+MRK 8	+MRK 8	+MRK 8	+MRK 8	+MRK 9	+MRK 9	+MRK 9	+MRK 9
18	+INP 28	+INP 29	+INP 30	+INP 31	+INP 76	+INP 77	+INP 78	+INP 79		+INP 4
19	+INP 29	+INP 28	+INP 31	+INP 30	+INP 77	+INP 76	+INP 79	+INP 78		+INP 5
20	-MRK 8	-MRK 8	-MRK 8	-MRK 8	-MRK 9	-MRK 9	-MRK 9	-MRK 9
22	-INP 28	-INP 29	-INP 30	-INP 31	-INP 76	-INP 77	-INP 78	-INP 79		-INP 4
23	-INP 29	-INP 28	-INP 31	-INP 30	-INP 77	-INP 76	-INP 79	-INP 78		-INP 5
26	+INP 30	+INP 31	+INP 28	+INP 29	+INP 78	+INP 79	+INP 76	+INP 77		+INP 6
27	+INP 31	+INP 30	+INP 29	+INP 28	+INP 79	+INP 78	+INP 77	+INP 76		+INP 7
30	-INP 30	-INP 31	-INP 28	-INP 29	-INP 78	-INP 79	-INP 76	-INP 77		-INP 6
31	-INP 31	-INP 30	-INP 29	-INP 28	-INP 79	-INP 78	-INP 77	-INP 76		-INP 7

Axis	Capture Complete Flag	Hardware Capture Position
0	777	12292
1	809	12548
2	841	12804
3	873	13060
4	905	13316
5	937	13572
6	969	13828
7	1001	14084
8	7689	14340
9	7721	14596
10	7753	14852
11	7785	15108
12	7817	15364
13	7849	15620
14	7881	15876
15	7913	16132

jw updated 07-Dec-2012