Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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17 APPLICATION OF FUNCTIONS
17.2 Touch probe
Method for calculating a scale measurement encoder position
The scale measurement encoder position is calculated as follows:
Scale position = (2D37h (Scale ABS counter)

2D38h (Scale measurement encoder resolution)) + 2D36h (Scale cycle
counter)
17.2
Touch probe
The touch probe function is available to latch the current position by sensor input.
With this function, the position feedback of the rising edge and falling edge of TPR1 (touch probe 1) and TPR2 (touch probe 2)
can be memorized and stored into each object of 60BAh to 60BDh according to the conditions specified in Touch probe
function (60B8h).
The following shows the touch probe detection resolution. Enabling the high precision touch probe will disable the encoder
output pulses.
When a simple motion module RD77GF is used, the touch probe function is available with the servo cyclic transmission
function or servo transient transmission function. To use the simple motion module, set 60B8h to any transmit PDO or any
transmit SDO, and the objects 60BAh to 60BDh to any receive PDO or any receive SDO.
For settings of the servo cyclic transmission function and servo transient transmission function, refer to the controller
instruction manual.
Related object
Touch probe detection resolution Touch probe1 Touch probe2
Input terminal TPR1 TPR2
Encoder resolution [Pr. PD37] = _ _ _ 0 (Selection of high-precision touch
probe is disabled) 55

s 55

s
[Pr. PD37] = _ _ _ 1 (Selection of high-precision touch
probe is enabled) 55

s Rising: 2

s
Falling: 55

s
Index Sub Object Name Data Type Access Default Description
60B8h 0 VAR Touch probe function U16 rw

Settings such as enabling/disabling of the touch
probe function and trigger conditions
60B9h 0 VAR Touch probe status U16 ro 0 Status information of the touch probe function
60BAh 0 VAR Touch probe pos1 pos value I32 ro 0 Shows the rising edge position of TPR1 (touch probe
1). (Pos units)
60BBh 0 VAR Touch probe pos1 neg value I32 ro 0 Shows the falling edge position of TPR1 (touch probe
1). (Pos units)
60BCh 0 VAR Touch probe pos2 pos value I32 ro 0 Shows the rising edge position of TPR2 (touch probe
2). (Pos units)
60BDh 0 VAR Touch probe pos2 neg value I32 ro 0 Shows the falling edge position of TPR2 (touch probe
2). (Pos units)