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Position capture is executed once the SERCOS relevant procedure (IDN 170) has been started. The axis property CAPTURE encapsulates this process, and is used to start and stop the CAPTURE procedure. It takes the values 1 or 0, to either start or stop the procedure, respectively. A query of the property causes the softMC to check the status of the CAPTURE procedure (using the IDNSTATE query, internally). The query returns the value returned by the IDNSTATE query to indicate the state of the CAPTURE procedure.
<axis>.Capture = <value>
<value>: 1 (ON), 0 (OFF)
There is no default in the softMC. When the property is queried, the softMC gets the value from the drive.
Configuration, Task or Terminal
- Can be set only in SERCOS communications phase 4
- Capture cannot be started while drive-controlled Homing is in progress.
- Not supported in EtherCAT system
a1.Capture = ON 'Start the capture procedure