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ABB Motion control products 1

www.abb.com/motion

Capture position, encoder or stepper values via simple to use high

speed latching features

Overview

OverviewOverview

Overview

The complete range of e100 products are capable of running Mint applications and it may be necessary at times to capture (latch)

the position of a controlled axis (e.g. for registration applications). This application note describes how it is possible to capture

position (or even encoder or stepper) values in Mint and access this data via special purpose Mint interrupts/events.

If the reader is not already familiar with the e100 product family it is recommended that they familiarise themselves with the contents

of application notes AN00187 and AN00162 beforehand.

NextMove

NextMoveNextMove

NextMove

e100

e100 e100

e100 c

controller

ontrollerontroller

ontroller

The NextMove e100 is a programmable motion controller capable of controlling up to 3 axes of servo and 4 axes of stepper locally.

In addition up to 32 positioning drive axes can be controlled over EPL. 8, 12 or 16 axes (depending on the part number) can be

profiled by the NextMove e100 to perform interpolated moves. The remaining axes can be added as ‘controlled nodes’ (i.e. they

profile their own point to point motion) or as ‘monitor only’ nodes (e.g. they run their own Mint programs).

There are two types of capture/latching that can be used on a NextMove e100

− Latching of local axis data

− Latching of remote e100 axis data

We will look at latching local axis data initially. Local axes are configured via the System Configuration wizard in Mint Workbench. It

is possible to add up to 3 local (analogue) servo axes (that each use one of the on-board encoder channels) and 4 local stepper

axes (that each use one of the on-board step and direction channels).

The System Configuration wizard allows the user to allocate axis numbers to these local axes and it is this axis number that is used

when referring to the position of the axis. The encoder or step/direction channel number used by a local axis is the number that is

used when referring to either encoder (for a servo axis) or stepper (for a stepper axis) in a Mint program.

To configure a fast position latch for a local axis we must add some code to our Mint application (there is no way to graphically

configure this). This is typically included in the Mint startup block as the configuration very rarely changes at run-time, but there’s no

problem with including it in the main application code if needed. NextMove e100 has four fast position capture inputs (0 to 3) so one

of these is typically used to capture the fast position/encoder/stepper value.

Motion Control Products

Application note

Fast position capture – e100 products

AN00223-001

1 2 3 4 5 6 7

Application note 1

Inhaltsverzeichnis

Seite 1 - Application note

ABB Motion control products 1 www.abb.com/motion Capture position, encoder or stepper values via simple to use high speed latching featur

Seite 2

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 2 www.abb.com/motion Example latch configuration f

Seite 3

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 3 www.abb.com/motion E100 drives have four latc

Seite 4

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 4 www.abb.com/motion Once the controller variable

Seite 5

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 5 www.abb.com/motion Workbench will initially s

Seite 6

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 6 www.abb.com/motion The screenshots above show th

Seite 7

Application note Fast position capture – e100 products AN00223-001 ABB Motion control products 7 www.abb.com/motion And as before, to actually

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