Keba ServoOne User Manual

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 303). HTL
encoders can be evaluated or pulse counters implemented using the iPLC .
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 iPLC 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
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
278
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

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English