13.9 Touch Probe
13.9.1 Related Objects
13-23
13
CiA402 Drive Pr
ofile
13.9
Touch Probe
You can latch the feedback position with the following trigger events.
•
Trigger with probe 1 input (Probe 1 Latch Input (/Probe1) signal)
•
Trigger with probe 2 input (Probe 2 Latch Input (/Probe2) signal)
•
Trigger with encoder zero signal (phase C)
The following two touch probe latches can be used at the same time.
Touch Probe 1 Latch
•
Latch control object: 60B8 hex (bits 0 to 7)
•
Latch status object: 60B9 hex (bits 0 to 7)
•
The latched position is always stored in
touch probe 1 position value
(60BA hex).
•
Trigger signal: Encoder zero signal or /Probe1 signal
Touch Probe 2 Latch
•
Latch control object: 60B8 hex (bits 8 to 15)
•
Latch status object: 60B9 hex (bits 8 to 15)
•
The latched position is always stored in
touch probe 2 position value
(60BC hex).
•
Trigger signal: /Probe2 signal
You can change the connector pin assignments and the /Probe1 and /Probe2 signal logic in
the Probe 1 Latch Input Signal parameter (Pn511 =
X
) and the Probe 2 Latch Input Signal
parameter (Pn511 =
X
).
Note: Touch probe 1 cannot be used during homing. If touch probe 1 was already active, it will be switched OFF.
13.9.1
Related Objects
Index
Subindex
Name
Access
PDO
Mapping
Unit
Data
Type
60B8 hex
0
Touch probe function
RW
Yes
−
UINT
60B9 hex
0
Touch probe status
RO
Yes
−
UINT
60BA hex
0
Touch probe 1 position value
RO
Yes
Pos unit
DINT
60BC hex
0
Touch probe 2 position value
RO
Yes
Pos unit
DINT
