Confirmation of the axis functions

Capture

The module is able to capture the following:

the current angle value,
the current value of the number for the cycle, (for type 2)

AND FOR THE ONLY

the number of points per turn of the encoder,
the current value before recalibration,
and the current value on detection of the zero pulse marker

Example: Capture Angle and number of cycles in CAPT0 register

Recalibration

With an incremental encoder, the counter using the position value must have been recalibrated at least once for the processor to switch to RUN on a PCAM_START_STOP command.

The implicit commands:

PRESET_ANG_ENABLE or PRESET_ANG_FORCE (for Type 1 and Type 3)
PRESET_ALL_ENABLE or PRESET_ALL_FORCE (for Type 2) must be positioned at 1 for the recalibration to be carried out.

Information ANG_OK changes to 1 when the counter is stalled.

Type 1 and Type 3

Type 2

Recalibration

This is the module function which is used to adjust the axis in relation to the machine zero or to synchronize the axis in relation to the arrival of a part.

Recalibration forces the position reading to a value which is predefined by the "recalibration value" parameter (included in the pulse field of the cycle).

The module allows recalibration to be carried out systematically for each cycle or for only one cycle. This recalibration is always conditioned to the IREC input.