Control Techniques Nidec SI-EtherCAT User Manual page 76

Table 7-34 Touch probe 1 positive edge
0x60BA Touch probe 1 positive edge
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: When feedback encoder is available
This will contain a position value frozen when a positive edge occurred on the touch probe 1
Description:
input. The value will only be valid when the positive position stored bit is set.
Table 7-35 Touch probe 1 negative edge
0x60BB Touch probe 1 negative edge
Access: RO
Default: 0
PDO Mappable: TxPDO
Motion Profiles: When feedback encoder is available
This will contain a position value frozen when a negative edge occurred on the touch probe 1
Description:
input. The value will only be valid when the negative position stored bit is set.
The Touch Probe Status (0x60B9), Touch probe 1 positive edge (0x60BA) and Touch probe 1
negative (0x60BB) objects will be updated every 250 µs, and it will be possible to include them in
TxPDOs.
The enable touch probe 1 (bit 0), enable positive edge sampling (bit 4) and enable negative edge
sampling (bit 5) of the Touch probe function (0x60B8) objects will be read and acted upon every
250 µs.
The other bits of the touch probe function object and the touch probe source object 0x60D0 which
are used for touch probe configuration (i.e. trigger source, trigger mode) will be acted up on in the
background. However the touch probe configuration will not manipulate the drive freeze system
until first time enabled, this is to make sure customer configuration for the drive freeze system will
not be changed if they are not using touch probe. After drive system first been configured, the new
touch probe configuration will take effect when the CANopen state machine leaves operating states
(i.e. operation-enabled and quick-stop-active).
It will be possible to include touch probe function object 0x60B8 in the RxPDOs. The touch probe
source (0x60D0) object can only be accessed by SDO.
7.3.16.2 Trigger mode of touch probe
There are two trigger modes that can be configured via trigger mode (bit 1) of the touch probe
function object (0x60B8):
• Trigger first event: this mode captures the position and set the position stored bit when the first
event of the trigger source occurs. The further events won't be captured until the enable bit(s) is
cleared and reset.
• Continuous: this mode captures the position each time an event occurs from the trigger source.
The position stored bit will only set for the first trigger, no further indication when additional
events occur. The value in the stored position object(s) will reflect the most recent record. The
position stored bit will be cleared once the associate enable bit is cleared, however the stored
position will retain.
76
Range: N/A
Range: N/A
Size: 4 bytes
Type: Integer / DINT
Update rate: When touch probe 1 is triggered by
positive edge.
Size: 4 bytes
Type: Integer / UDINT
Update rate: When touch probe 1 is triggered by
negative edge.
Unit: User-defined
position units
Unit: User-defined
position units
SI-EtherCAT User Guide