Leadshine CS3E-E Series - Touch Probe Functionality

CS3E-E Series EtherCAT Closed Loop stepper drive User Manual
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6.3 Touch Probe
Touch probe function is to capture and record the actual position of the motor by using the input signal with
the touch probe function. The CS3E-E driver has two input I/O signals to support the probe function and can
be enabled at the same time. The probe function related object dictionaries are shown in Table 6.6.
Table 6.6： Related Object Dictionaries of Touch Probe
Index
Bit Definition
60B8h
7-6
5
4
3-2
1
0
-
Touch Probe 1 falling
edge trigger
Touch Probe 1 rising
edge trigger
-
Touch Probe 1
mode
Touch Probe 1
enable
15-14
13
12
11-10
9
8
-
Touch Probe 2 falling
edge trigger
Touch Probe 2 rising
edge trigger
-
Touch Probe 2
mode
Touch Probe 2
enable
60B9h
7
6
5-3
2
1
0
Actual level
of touch
probe 2
Actual
level of
Touch
Probe 1
Touch Probe 1 falling
edge trigger complete
Touch Probe 1 rising edge
trigger complete
Touch Probe 1
action
15-11
10
9
8
-
Touch Probe 2 falling
edge trigger complete
Touch Probe 2 rising edge
trigger complete
Touch Probe 2
action
60BAh
Touch Probe 1 rising edge capture data value register
60BBh
Touch Probe 1 falling edge capture data value register
60BCh
Touch Probe 2 rising edge capture data value register
60BDh
Touch Probe 2 falling edge capture data value register
60FDh
The state of bit26 is bit 1 and bit 2 AND logic of Object (60B9h); The state of bit27 is bit 9 and bit 10 AND logic of
Object (60B9h)
2152h
It can be configured as probe 1 or probe 2 by writing its sub-indexes 01h and 02h to 17 or 18.
Additional information on other bits:
 The bit0 and bit8 of Object (60B8h): start/stop control bit of Touch Probe 1 and Touch Probe 2
respectively,and the rising edge is effective.
 The bit1 and bit9 of Object (60Bh): Touch Probe modes are divided into single mode and continuous
mode.
o Single mode: After a Touch Probe is activated, it is captured only under the first trigger signal. In
order to capture the new position value again, the bit0 /bit8 of the Object (60B8h) must be given a
rising edge signal to restart the probe action.
o Continuous mode: After a Touch Probe is activated, the capture action is carried out under each
trigger signal.