Idn170 Command: Probing - Kollmorgen Sercos II Translation Of The Original Manual

®
sercos IDN Set
3.120

IDN170 Command: Probing

Probing is used to capture position data when a digital input changes. Each probe may
trigger a position capture using both edges (rising and/or falling) of the digital input signal,
as long as the edges are separated by at least 0.5 milliseconds. The "Probe Control
Parameter" (IDN169) is used to configure the digital input edges that will trigger a position
capture. Once the probe procedure is started by the master (set IDN170 to 3), it will con-
tinue indefinitely until either the master cancels the probing procedure or a probing error
occurs.
The probing procedure will fail under the following conditions:
1) The "Homing" procedure (IDN148) is active.
2) A digital input has not been configured as a position capture input (IDNP3001).
During the activation of the probing procedure, the master arms the probe trigger by set-
ting a "Probe Enable" signal (IDN405 or IDN406). After the probe trigger has been armed,
the next rising and/or falling edge(s) (as specified in IDN169) on the probe inputs
(IDN401 or IDN402) will latch the motor position and cause the corresponding "Probe
Position Latch Status" (IDN179) bits to set.
Any further changes in the probe input are ignored until the master re-arms the probe trig-
ger by clearing and setting the probe enable signal. The master may read captured posi-
tions through the "Probe 1+2 Positive Edge Value" (IDN130 and IDN132) and the "Probe
1+2 Negative Edge Value" (IDN131 and IDN133).
The amplifier supports two physical probe input that must be pre-configured through
IDNP3001 and IDNP3000 or the amplifier setup software before starting the probe proce-
dure.
Configuration will be selected with IDNP3018: Probe 1 = Input 1, Probe 2 = Input 2
It is possible to use only one physical probe input (digital input 2) with the two logical
probes that are operated independently. Logical probe 1 then supports capturing the
motor feedback while logical probe 2 supports capturing the external feedback. Accuracy
see ASCII reference
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
66
04/2016
Binary
0
Non-Volatile: No
Write Access: CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
sercos
Kollmorgen
®
for S300/S700