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MSD Servo Drive User Manual SERCOS II
51
[ Chapter 9 ]
9 Touchprobe function
The touchprobe function permits event-controlled position measurement. Positive and
negative signal edges at the two “fast“ digital inputs ISD05 and ISD06 can be config-
ured as triggers for a position measurement.
To activate the “Measurement with touchprobe” function the “Touchprobe cycle“ com-
mand (S-0-0170) is used. This command permits both single and multiple measurements
(use of real-time bits).
Setting and enabling the command activates the “Measurement” function in the drive.
The drive signals this by setting the command acknowledgement (data status) to “set,
enabled, not yet executed”. No “Command correctly executed” acknowledgement is
made. This means that the command change bit is only set in the event of a fault.
By way of the “Touchprobe control parameter“ (S-0-0169) specific edges of touch-
probe 1 or 2 can be activated.
The measurement is enabled by the “Touchprobe 1/2 enable“ signals (S-0-0405/S-0-0406).
When the selected edge occurs on the touchprobe, the drive stores the actual position
value to the relevant parameter S-0-0130 to S-0-0133 (measured value 1 or 2, positive or
negative edge) and sets the associated bit in the measured value status (S-0-0179). The
status bits in the measured value status are addressable separately via the ident numbers
S-0-0409 to S-0-0412 and so can be assigned to the real-time status bits in fast measure-
ments.
When an active measurement edge occurs the effect of the same edge is disabled.
This block is cleared by resetting the touchprobe 1/2 enable (S-0-0405/S-0-0406). The
measurement is re-enabled by then setting the touchprobe 1/2 enable. The parameters
of the touchprobe function are explained in the following table.
Parameter Description
S-0-0169
TOUCHPROBE CONTROL PARAMETER
The settings in this parameter define which touchprobes and edges are active
for the touchprobe cycle.
Structure of touchprobe control parameter:
Structure of touchprobe control parameter: 0 - Positive edge not active
1 - Positive edge active
Bit 1: Touchprobe 1 negative edge 0 - Negative edge not active
1 - Negative edge active
Bit 2: Touchprobe 2 positive edge 0 - Positive edge not active
1 - Positive edge active
Bit 3: Touchprobe 2 negative edge 0 - Negative edge not active
1 - Negative edge active
S-0-0170
TOUCHPROBE CYCLE COMMAND
If the touchprobe cycle command is set and enabled by the master, the drive
responds to the following parameters:
- Touchprobe 1/2 enable (S-0-0405, S-0-0406) and
- Touchprobe 1/2 (S-0-0401,S-0-0402) as programmed in touchprobe
- control parameter (S-0-0169)
While the command is active the master control system can perform multiple
measurements. The command is cleared by the control system if no further
measurements are required.
S-0-0179
MEASURED VALUE STATUS
If the drive stores one or more measured values while the touchprobe cycle
command (S-0-0170) is active, it simultaneously also sets the associated bit in
the measured value status. If the “Touchprobe 1 enable“ (S-0-0405) is cleared
by the control system, the drive clears bits 0 and 1 in the measured value
status.
If the “Touchprobe 2 enable“ (S-0-0406) is cleared by the control system, the
drive clears bits 2 and 3 in the measured value status. The drive clears all bits
in the measured value status when the touchprobe cycle command (S-0-0170)
is cleared by the control system.
Structure of measured value status:
Bit 0: Measured value 1 recorded positive (S-0-0409) 0 - Not recorded 1 - Recorded
Bit 1: Measured value 1 recorded negative (S-0-0410) 0 - Not recorded 1 - Recorded
Bit 2: Measured value 2 recorded positive (S-0-0411) 0 - Not recorded 1 - Recorded
Bit 3: Measured value 2 recorded negative (S-0-0412) 0 - Not recorded 1 - Recorded
Bit 15: (reserved)
Bit 15-4: (reserved)
Table 9.1 Description of parameters for the touchprobe function
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