Delta EtherCAT Programming Manual page 167

General Operation of Motion Axis

Description
CANopen defines two Touch Probe functions in OD-60B8. However, the applying method varies
8
with the applied servo drive. Please check the user manual in advance.
The following table illustrates the Touch Probe function and settings which defined in OD-60B8
by Delta ASDA A2-E and EtherCAT remote pulse module. Please note that this API does not
support the second touch probe function (Touch Probe 2.)
Bit
6 ~ 7
10
8-26
Value
0 Disable Touch Probe 1
0
1 Enable Touch Probe 1
0 Record the pulse (position) when signal is triggered for the first time
1 Continuous recording; as long as the signals is triggered, the pulse
1
(position) will be recorded
0 Regard the digital input as the trigger signal of Touch Probe 1
2
1 Regard the motor's Z pulse as the trigger signal of Touch Probe 1
3 0 Reserved
Stop capturing the pulse (position) when the trigger signal for Touch
0
Probe 1 is rising-edge triggered.
4
Start capturing the pulse (position) when the trigger signal for Touch
1
Probe 1 is rising-edge triggered.
Stop capturing the pulse (position) when the trigger signal for Touch
0
Probe 1 is falling-edge triggered.
5
Start capturing the pulse (position) when the trigger signal for Touch
1
Probe 1 is falling-edge triggered.
0 Reserved
Disable touch probe 2
0
(This API does not support Touch Probe function 2.)
8
Enable touch probe 2
1
(This API does not support Touch Probe function 2.)
Record the pulse (position) when signal is triggered for the first time
0
(This API does not support Touch Probe function 2.)
9 Continuous recording; as long as the signals is triggered, the pulse
1 (position) will be recorded
(This API does not support Touch Probe function 2.)
Regard the digital input as the trigger signal of Touch Probe 2
0
(This API does not support Touch Probe function 2.)
Regard the motor's Z pulse as the trigger signal of Touch Probe 2
1
(This API does not support Touch Probe function 2.)
11 0 Reserved
EtherCAT Programming Guide
Description
March, 2017