Using the touchprobe inputs ISD05 and ISD06, touchprobe functions can be performed. HTL encoders can be evaluated or pulse counters implemented using the iPLC.
The touchprobe is activated via parameter P 0240 "MPRO_TP_Ctrl". This enables triggering on a positive or negative edge, or on both edges, of the signal detected on the touchprobe inputs. After the measurement, the parameter jumps back to the value "NONE (0)" and the latch position is mapped in the corresponding subindex of parameter P 0241 "MPRO_TP_Position". A continuous touchprobe mode is not possible at present, so the touchprobe has to be reactivated after the measurement.
Parameter P 1402 "MPRO_TP_Channel" can be used to select various positions as actual value sources of the latch position for the touchprobe functionality.
The following table provides an overview of the available settings. The inputs for ISD05 and ISD06 must be parameterized to Touchprobe (PROBE(15)). The counters are accessed via the iPLC or a bus system.
Device setup > Configuration of inputs/outputs > Digital inputs
| P.no.: | Parameter name Settings | Function |
|---|---|---|
| P 0106 | MPRO_INPUT_FS_ISD05 | Function of digital input ISD 05 |
| (15) | Probe(15) | Touchprobe |
| P 0107 | MPRO_INPUT_FS_ISD06 | Function of digital input ISD 06 |
| (15) | Probe(15) | Touchprobe |
Tabelle: Configuration of inputs
Device setup > Motion profile > Touchprobe
|
P.no.: |
Parameter name Settings | Function |
|---|---|---|
| P1400 | MPRO_TP_Config | Touchprobe configuration |
| (0) | TP_TP | ISD05, ISD06: Touchprobe |
| (1) | AB | ISD05, ISD06 as encoder tracks A/B, count direction via evaluation of pulse sequence |
| (2) | PD_UP | ISD05: Pulse counter (rising edge) ISD06: Count direction (TRUE := positive count direction) |
| (3) | PD_DOWN | ISD05: Pulse counter (rising edge) ISD06: Count direction (TRUE := negative count direction) |
| (4) | PC_PC | ISD05, ISD06: Pulse counter (both edges) |
| (5) | PC_TP | ISD05: Pulse counter (both edges) ISD06: Touchprobe |
| (6) | TP_PC | ISD05: Touchprobe ISD06: Pulse counter (both edges) |
Tabelle: Touchprobe configuration P 1400
Device setup > Motion profile > Touchprobe (only for ISD05/ISD06)
| P.no.: | Parameter name Settings | Function |
|---|---|---|
| P1402 | MPRO_TP_Channel | Touchprobe configuration Probe channel |
| (0) | ACTPOS (0) | Actual position in user units |
| (1) | ACTPOSINC (1) | Actual position in increments |
| (2) | MASTERPOS (2) | Master position in increments |
| (3) | ENCPOS_CH1 (3) | Encoder position Channel 1 |
| (4) | ENCPOS_CH1_INC (4) | Encoder position Channel 1 in increments |
| (5) | ENCPOS_CH2 (5) | Encoder position Channel 2 |
| (6) | ENCPOS_CH2_INC (6) | Encoder position Channel 2 in increments |
| (7) | ENCPOS_CH3 (7) | Encoder position Channel 3 |
| (8) | ENCPOS_CH3_INC (8) | Encoder position Channel 3 in increments |
| (9) | ENCPOS_CH4 (9) | Encoder position Channel 4 |
| (10) | ENCPOS_CH4_INC (10) | Encoder position Channel 4 in increments |
| (11) | ACTPOS2 (11) | Actual position of redundant encoder in user units |
| (12) | SERCOS(12) | Referred to Sercos profile parameters S-x-0426, S-x-0427 |
Tabelle: Touchprobe configuration P 1402
Touchprobe configuration
| P.no.: | Parameter name Settings | Function |
|---|---|---|
| P 0240 | MPRO_TP_Ctrl | Touchprobe control word |
| (0) | NONE (0) | No function |
| (1) | POS (1) | Positive edge |
| (2) | NEG (2) | Negative edge |
| (3) | BOTH (3) | Both edges |
| P 0241 | MPRO_TP_Position | Touchprobe latch position ISD05 and ISD06 |
| (0) | Latch position ISD05, positive edge | |
| (1) | Latch position ISD05, negative edge | |
| (2) | Latch position ISD06, positive edge | |
| (3) | Latch position ISD06, negative edge |
|
NOTE: For more information refer to the bus system user manuals or the description of the iPLC. |
Copyright © LTi DRiVES GmbH, Januar 2013, ID-Nr.: 0842.26B.1-00 DE