AKD2G Support With MC_TouchProbe

These are tips related to using MC_TouchProbe with AKD2G drives In electrical engineering, a drive is an electronic device to provide power to a motor or servo. Control device for regulating the speed, torque and position of a motor. A unit controlling a motor using the current and timing in its coils..

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• AKD2G only supports position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. capture.

• AKD2G does not use CAP1 or CAP2 to provide the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. touch probes See Softscope - Probe item..
  • AKD2G supports ETG6010 and DS402 for Touch Probe objects.

    Two touch probes per axis are supported over EtherCAT with their own dedicated hardware in the drive.

    Each touch probe can capture two positions, the position on the rising and the position of the falling edge of the trigger input.

    These are the standards-compliant ETG6010 and DS402, EtherCAT / CANopen CANopen® is a communication protocol and device profile specification for embedded systems used in automation for fieldbuses working in real time. objects AKD2G supports.

    Axis 1 Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin.	Axis 2 Index	Name	Note
    60B8h	68B8h	Touch probe function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. / control.
    60B9h	68B9h	Touch probe status.
    60BAh	68BAh	Touch probe position 1 positive value.	AXIS#.PL.FB, Scaling same as axis
    60BBh	68BBh	Touch probe position 1 negative value.
    60BCh	68BCh	Touch probe position 2 positive value.
    60BDh	68BDh	Touch probe position 2 negative value.
    60D0H	68D0h	Touch probe source.

• The KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment pre-populates these PDOs with the required Touch probe objects by default.
  • Rx PDO Process Data Opjects - A type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. 0x1602 with the required Touch Probe control objects.
  • Tx PDO 0x1A02 with the required Touch Probe status and position value objects.

    

• The Trigger input source is set by sending an SDO command.
  • Axis1:

    0x60D0 sub Index 1 for Touch Probe 1 Source.

    0x60D0 sub Index 2 for Touch Probe 2 Source.

  • Axis2:

    0x68D0 sub Index 1 for Touch Probe 1 Source.

    0x68D0 sub Index 2 for Touch Probe 2 Source.

• 6#D0h, Touch Probe Source.
  This table shows how AKD2G signals are mapped to the touch probe source entry in the object dictionary.
  
  • A few sources appear in both the standard and the manufacture ranges to provide some consistency.

DS402 & ETG6010 Values	Text from Standard	AKD2G Values for 6#D0h	Equivalent CAP#.TRIGGER	AKD2G Note
-32768 to -1	Manufacturer specific	-41 to -42	41 to 42	Z pulse When the step gets activated, the action is activated for a single execution, and possibly once again when the step is deactivated. for Axis 1 to 2
		-31 to -35	31 to 35	Z pulse for Feedback 1 to 5. FB1, 2, 4, and 5 do not support Z pulses; these are not shown. When we support SFA on FB 1 and 2 then Z pulse may be possible. X23 is optional so if not fitted then -33 is not valid.
		-21 to -26	21 to 26	DIO1 to DIO6 When X22 is not fitted options -21 and -22 are not valid. When X23 is not fitted options -23 to -26 are not valid.
		-1 to -12	1 to 12	DIN1 to DIN12 When X22 is not fitted options -9 to -12 are not valid.
0	Reserved			Not valid.
1	Digital Input 1 (Touch Probe input)	1	1	DIN1. Fast Opto
2	Digital Input 2 (Touch Probe input)	2	2	DIN2. Fast Opto
3	Digital Input 3 (Touch Probe input)			Not valid.
4	Digital Input 4 (Touch Probe input)			Not valid.
5	Hardware zero pulse Output once per turn from incremental encoders, used to zero the machine. signal of position encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders.	5	41 for Axis 1 42 for Axis 2	Valid if PL.FBSOURCE is using a feedback that supports a Z pulse.
6	Software zero pulse encoder			Not valid.
7 to 32767	Reserved			Not valid.