AKD2G Support With MC_TouchProbe

Following are several tips related to using MC_TouchProbe with AKD2G drives.


  • Currently, AKD2G only supports position capture.
  • AKD2G does not use CAP1 or CAP2 to provide the EtherCATClosedEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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. 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.

    Following are the standards-compliant ETG6010 and DS402, EtherCAT / CANopen objects AKD2G supports.

    Axis 1 IndexAxis 2 IndexNameNote
    60B8h68B8hTouch probe function / control 
    60B9h68B9hTouch probe status 
    60BAh68BAhTouch probe position 1 positive valueAXIS#.PL.FB, Scaling same as axis
    60BBh68BBhTouch probe position 1 negative value
    60BCh68BChTouch probe position 2 positive value
    60BDh68BDhTouch probe position 2 negative value
    60D0H68D0hTouch probe source 
  • The KAS IDEClosed"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger prepopulates the following PDOs with the required Touch probe objects by default.
    • Rx PDO 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 can be set by sending a 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. The following table shows how AKD2G signals are mapped to the touch probe source entry in the object dictionary. Note that 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 for Axis 1 to 2
    -31 to -35 31 to 35 Z pulse for Feedback 1 to 5 As FB1, 2, 4, and 5 do not support Z pulses then these will not be 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 will not be valid.
    -21 to -26 21 to 26 DIO1 to DIO6
    When X22 is not fitted options -21 and -22 will not be valid. When X23 is not fitted options -23 to -26 will not be valid.
    -1 to -12 1 to 12 DIN1 to DIN12
    When X22 is not fitted options -9 to -12 will not be 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 signal of position encoder 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