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Chapter 3 - Device Profile
CD1-k – CANopen Communication Profile
3.13.7 - POSITION CAPTURE FUNCTION
The drive can capture the motor position and the secondary sensor position at a rate of 62,5 µs with 2 logic inputs
: the CAPTURE input and the INDEX input .
The chart below defines the Main capture position value and the Secondary capture position value according to
the sensor feedback configuration.
Configuration
Motor feedback
Position loop feedback
Main capture Secondary
capture
1 Resolver Resolver Resolver
(object 6064)
Encoder
(object 3213)
2 Resolver Encoder Encoder
(object 6064)
Resolver
(object 3212)
3 Encoder Encoder Encoder
(object 6064)
Resolver
(object 3213)
4 Encoder Resolver Resolver
(object 6064)
Encoder
(object 3212)
3.13.7.1 - Object 3389h: Capture Input Selection
Index 3389h
Name
Capture Input Selection
Object Code
VAR
Data Type
Unsigned16
Object Class
all
Access rw
PDO Mapping
No
Default Value
10h
Bit Meaning
0-3
Capture 1 input selection: 0=CAPTURE input, 1=INDEX input
4-7
Capture 2 input selection: 0=CAPTURE input, 1=INDEX input
8-11
Capture 1 sensor selection: 0=Main capture, 1=Secondary capture
12-15
Capture 2 sensor selection: 0=Main capture, 1=Secondary capture
3.13.7.2 - Object 3380h: Capture Configuration
Index 3380h
Name Capture
Configuration
Object Code
VAR
Data Type
Unsigned16
Object Class
all
Access rw
PDO Mapping
No
Default Value
0
Bit Meaning
0
Capture 1 at rising edge
1
Capture 1 at falling edge
2
Capture 2 at rising edge
3
Capture 2 at falling edge
