Mitsubishi Electric MELSERVO-J4 Instruction Manual page 91

5. CiA 402 DRIVE PROFILE
(2) Timing chart
Touch probe function
Enable Touch Probe 1
Enable Sampling at positive edge
Enable Sampling at negative edge
Touch probe status
Touch Probe 1 is enabled
Touch Probe 1 positive edge stored
Touch Probe 1 negative edge stored
Touch Probe position 1 positive value
Touch Probe position 1 negative value
Note. Turn on and off Touch Probe Signal so that both the on time and off time are 0.5 ms or longer.
Transition
No.
1 60B8h Bit 0, 4, 5 = 1
2 → 60B9h Bit 0 = 1
3
4 → 60B9h Bit 1 = 1
4a → 60BAh
5
6 → 60B9h Bit 2 = 1
6a → 60BBh
7 60B8h Bit 4 = 0
8 → 60B9h Bit 1 = 0
8a → 60BAh
9 60B8h Bit 4 = 1
10 → 60BAh
11
12 → 60B9h Bit 1 = 1
12a → 60BAh
13 60B8 Bit 0 = 0
14 → 60B9 Bit 0, 1, 2 = 0
14a → 60BAh, 60BBh
1
0x60B8 Bit 0
0x60B8 Bit 1
Trigger first event
1
0x60B8 Bit 4
0x60B8 Bit 5
0x60B9 Bit 0
0x60B9 Bit 1
0x60B9 Bit 2
Touch Probe Signal
0x60BA
0000
0x60BB
Object
Enables Touch Probe1. The rising edge and falling edge are enabled.
Turns on the Touch Probe1 enable status.
Turns on Touch Probe Signal (TPR1).
Turns on the Touch Probe1 positive edge stored status.
Sets the latched position feedback for Touch probe position1 positive value.
Turns off Touch Probe Signal (TPR1).
Turns on the Touch Probe1 negative edge stored status.
Sets the latched position feedback for Touch probe position1 negative value.
Turns off Sample positive edge. Rising edge detection is disabled.
Turns off Touch Probe1 positive edge stored status.
Touch probe position1 positive value does not change.
Turns on Sample positive edge. Rising edge detection is enabled.
Touch probe position1 positive value does not change.
Turns on Touch Probe Signal (TPR1).
Turns on the Touch Probe1 negative edge stored status.
Sets the latched position feedback for Touch probe position1 negative value.
Disables Touch Probe1.
Clears all the status Bit.
Touch probe position1 positive/negative value does not change.
2
4
6
3 5
(Note)
0.5 ms or longer
(Note)
0.5 ms or
longer
4a
yyyy
6a
0000 xxxx
Description
5 - 56
13
7 9
8
12
(Note)
11
8a 10
12a
14
14
14
uuuu
14a