XGB EtherCAT Touch Probe Setup with XPM_TPROBE and XPM_ABORTT

  • XPM_TPROBE is used to setup touch probe functionality for an Axis.

  • XPM_ABORTT is used to abort touch probe functions of an Axis.

  • The examples in this topic can be found in OnlineHelp_ECAT_Example.

XPM_TPROBE can only execute one type of Trigger input type per execution.

  • Window Mode only works with single trigger mode.

  • XPM_TPROBE only works for the XBF-PN0xB modules.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Set to 0 for XEM CPU.
SLOT Input Slot number of the motion controller. Equal to slot number of XBF-PN04B or XBF-PN08B module.
AXIS Input

Axis number to control.

  • XBF-PN04B: 1 ~ 4 (1 axis - 4 axis)

  • XBF-PN08B: 1 ~ 8 (1 axis – 8 axis)

This can be a constant or variable.
TRIG_INPUT Input

Signal to be used as a trigger.

  • 0: Rising Edge of Touch Probe 1

  • 1: Rising Edge of Touch Probe 2

  • 2: Falling Edge of Touch Probe 1

  • 3: Falling Edge of Touch Probe 2

  • 4: Index (Z) Pulse of Touch Probe 1

  • 5: Index (Z) Pulse of Touch Probe 2
TRIG_MODE Input

Trigger Mode.

  • 0: Single Trigger

  • 1: Continuous Trigger
WIND_ONLY Input

Enable Position Window Mode.

  • 0: Inactive

  • 1: Active
FIRST_POS Input Start position of window mode. Value can be between -2,147,483,648 ~ 2,147,483,647.
LAST_POS Input End position of window mode. Value can be between -2,147,483,648 ~ 2,147,483,647.
DONE Output Status that function block is done.
STAT Output Current status of the function block.Non-zero numbers will be an error or warning.

XPM_TPROBE Example

This example is Scan Program LP621_XPM_TPROBE_ABORTT_Example in the OnlineHelp_ECAT_Example.zip file.

  • In this example Axis 1 is used to setup the touch probes with XPM_TPROBE.

  • XPM_LRD can be used to read the latched touch probe positions. It is always stored in the first element of the data array.

  • Execute XPM_ECON to connect EtherCAT network.

  • Execute XPM_SVON fbs to power on axes.

Using XPM_LRD and Monitor Mode for Latched Positions

XPM_LRD is used to read the latched positions after activating the touch probe with XPM_TPROBE.

  • The position when the touch probe activates is stored in the L_DATA array.

  • To read the position for Touch Probe 2, Touch Probe 1 must be enabled also.

XPM_ABORTT only works for the XBF-PN0xB modules. It is used to cancel a trigger setup with XPM_TPROBE.

Element Name Element Type Description
REQ Input Edge detected request to execute the function block
BASE Input Base number of the motion controller. Equal to 0 for built-in position control.
SLOT Input Slot number of the motion controller. Equal to slot number of XBF-PN04B or XBF-PN08B module.
AXIS Input

Axis number to control.

  • XBF-PN04B: 1 ~ 4 (1 axis - 4 axis)

  • XBF-PN08B: 1 ~ 8 (1 axis – 8 axis)

This can be a constant or variable.
TRIG_INPUT Input

Signal to abort.

  • 0: Rising Edge of Touch Probe 1

  • 1: Rising Edge of Touch Probe 2

  • 2: Falling Edge of Touch Probe 1

  • 3: Falling Edge of Touch Probe 2

  • 4: Index (Z) Pulse of Touch Probe 1

  • 5: Index (Z) Pulse of Touch Probe 2
TRIG_RST Input

Trigger Reset setting.

  • 0: Trigger Cancellation

  • 1: Trigger Cancellation and Reset Position Data
DONE Output Status that function block is done.
STAT Output Current status of the function block. Non-zero numbers will be an error or warning.

XPM_ABORTT Example

This example is Scan Program LP621_XPM_TPROBE_ABORTT_Example in the OnlineHelp_ECAT_Example.zip file.

XPM_ABORTT must be setup with the same parameters as XPM_TPROBE to cancel the correct touch probe configuration.

Step Action
1

Connect to the iX7NH Servo Drive with Drive CM Software. Press the Digital Input button.
2

Assign touch probe 1 and 2 inputs to the digital input #1 and #2.
3

Press the Save to Memory button to save settings.
Step Action
1

Open the XG-PM project. In the Workspace window, Right-click on the servo drive to configure and select Properties. XG-PM must be disconnected to edit the PDO.
2

On the Servo Info screen, click the Edit button.

3

In the PDO Item Edit screen, select an item in the mapping objects to remove. This example shows Following Error Actual Value. Press the Up arrow to remove the selected object.
4

In the Mappable objects window, find the appropriate Touch Probe 2 object to add. This example shows Touch Probe 2 Positive Edge Position. Press the Down arrow to add the object to the mapping objects sections.
5 Save the XG-PM project and connect to the XEM CPU. Write the project to the XEM CPU.

 

 

 

 

LP621