Installation guide

Keyword Reference Guide
MN1270 02.2002 45
Format:
CAPTURE = <expression>
v = CAPTURE
Dot Parameters:
None.
Attributes:
Controller Read Write Command Multi-Axis Scaled Default Range
NextMove &
MintDrive
 
0 ≤ x ≤ 2
ServoNode 51
 
0 ≤ x ≤ 3
Description:
The
CAPTURE keywords are used to configure and perform data capture from controllers. A number of
internal parameters can be logged automatically for later upload and display by the Mint WorkBench.
There are six capture channels on the controllers. Capture channels are of different sizes on different
controllers depending on the memory available:
Controller NextMove
PCI
NextMove
PC
NextMove
BX
MintDrive ServoNode
51
Number of
data points
1000 250 1000 1000 1000
Data capture is performed at a servo loop level, this means that by default, data is captured every servo
loop. The keyword
CAPTUREINTERVAL specifies the frequency of the data capture.
Each of the capture channels may be configured to capture a specific parameter from a specific axis.
The keyword
CAPTUREMODE specifies the data which will be captured. The keyword CAPTUREAXIS
specifies the axis the data will be captured from.
The
CAPTURE keyword is used to start and stop the capture process. Capture takes a parameter that
controls the operation of capture as follows.
Value Pre defined
Constants
Description
0
_capSTOP
Stop a capture in progress.
1
_capSINGLE
Start a single capture. When the buffer becomes full, the
capture will automatically stop.
2
_capWRAP
Start a continuous capture. When the buffer becomes full, the
oldest values are overwritten until the capture is stopped.
3
_capHIGH_SPEED
Start a high speed capture (ServoNode 51 only)
Reading the CAPTURE keyword returns the current capture state.
Bit Description
0 1 if running in single shot capture.
1 1 if running in continuous capture.
2 1 if the buffer has wrapped.
If a single capture has completed, then
CAPTURE will return 0, indicating that it had completed.
Once data capture has been started there are various methods of stopping it. The first and most straight
forward is to use the
CAPTURE keyword specifying a mode of zero. Alternatively the data capture can
be stopped internally when a specific event happens. The keyword
CAPTUREEVENT specifies what type
of event will stop the data capture.
Example:
LOOPTIME = 2000
CAPTUREINTERVAL = 1
CAPTUREMODE.0 = _cpMEASURED_SPEED