8.10 Touch probe
Using the touch probe inputs, touch probe functions can be performed. In order to be
able to do this, P 106[0] - MPRO_INPUT_FS_ISD05 and P 107[0] - MPRO_INPUT_
FS_ISD06 must be used to set digital inputs ISD05 and ISD06 to "PROBE(15) =
Touch probe (only ISD05/06)" (see Section "Digital inputs" on page 290). HTL
encoders can be evaluated or pulse counters implemented using the MSD PLC .
The touch probe can be triggered with P 240 - MPRO_TP_Ctrl. This enables
triggering on a positive or negative edge, or on both edges, of the signal detected on
the touch probe 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 241 - MPRO_TP_Position. A continuous touch probe mode is not
possible at present, so the touch probe has to be reactivated after the measurement.
P 1402 - MPRO_TP_Channel can be used to select various positions as actual
value sources of the latch position for the touch probe functionality.
The following table provides an overview of the available settings. The counters are
accessed via the MSD PLC or a bus system.
ID
Index Name / Setting
Unit
Description
240
MPRO_TP_Ctrl
Touch probe: Control
The following
settings apply to
indexes 0–2
0
NONE (0) = No function
1
POS (1) = Positive edge
2
NEG (2) = Negative edge
3
BOTH (3) = Both edges
240
0
MPRO_TP_Ctrl
240
1
MPRO_TP_Ctrl
240
2
MPRO_TP_Ctrl
241
MPRO_TP_Position
Probe: Pos. high/low edge of TP0/1,
encoder zero pulse
Table 8.29: “Touch probe” parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
275
8 Motion profile
ID
Index Name / Setting
Unit
Description
241
0
MPRO_TP_Position
mDegree
241
1
MPRO_TP_Position
mDegree
241
2
MPRO_TP_Position
mDegree
241
3
MPRO_TP_Position
mDegree
241
4
MPRO_TP_Position
mDegree
1400
0
MPRO_TP_Config
Touch probe: Configuration
TP_TP (0)
TP0, TP1 touch probe
AB (1)
TP0, TP1 as encoder, A/B as quadrature
counting
PD_UP (2)
TP0, TP1 as encoder, pulse (TP0) /
direction (TP1), count up on direction high
PD_DOWN (3)
TP0, TP1 as encoder, pulse (TP0) /
direction (TP1), count down on direction
high
PC_PC (4)
TP0 pulse counter, TP1 pulse counter
PC_TP (5)
TP0 pulse counter, TP1 touch probe
TP_PC (6)
TP1 touch probe, TP0 pulse counter
ENC_ENC (7)
TP0 encoder counter, TP1 encoder counter
ENC_TP (8)
TP0 encoder counter, TP1 touch probe
TP_ENC (9)
TP0 touch probe, TP1 encoder counter
1402
MPRO_TP_Channel
Touch probe: Channel
The following
settings apply to
indexes 0–2
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
