AKD2G EtherNet/IP Touch Probes

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

On AKD2G, the touch probes are separate from the drive's position capture channels, CAP1 and CAP2. The touch probes use their own dedicated hardware in the drive. The configuration and status of the touch probes will not be available by the CAP#. keywords.

These are the EtherNet/IP touch probe parameters AKD2G supports.

Touch probe 1		Touch probe 2
Keyword	Description	Keyword	Description
AXIS#.EIP.TP.CONTROL1	Touch probe 1 control byte	AXIS#.EIP.TP.CONTROL2	Touch probe 2 control byte
AXIS#.EIP.TP.STATUS1	Touch probe 1 status byte	AXIS#.EIP.TP.STATUS2	Touch probe 2 status byte
AXIS#.EIP.TP.POSLATCH1	Touch probe 1 position positive value	AXIS#.EIP.TP.POSLATCH2	Touch probe 2 position positive value
AXIS#.EIP.TP.NEGLATCH1	Touch probe 1 position negative value	AXIS#.EIP.TP.NEGLATCH2	Touch probe 2 position negative value
AXIS#.EIP.TP.SOURCE1	Touch probe 1 source	AXIS#.EIP.TP.SOURCE2	Touch probe 2 source
AXIS#.EIP.TP.POSTIME1	Touch probe 1 timestamp positive value	AXIS#.EIP.TP.POSTIME2	Touch probe 2 timestamp positive value
AXIS#.EIP.TP.NEGTIME1	Touch probe 1 negative value	AXIS#.EIP.TP.NEGTIME2	Touch probe 2 timestamp negative value
AXIS#.EIP.TP.POSCOUNT1	Touch probe 1 positive edge counter	AXIS#.EIP.TP.POSCOUNT2	Touch probe 2 positive edge counter
AXIS#.EIP.TP.NEGCOUNT1	Touch probe 1 negative edge counter	AXIS#.EIP.TP.NEGCOUNT2	Touch probe 2 negative edge counter

The Usage table shows how AKD2G signals are mapped to the touch probe source parameter for EtherNet/IP.

Usage

The values in this table apply to either AXIS#.EIP.TP.SOURCE1 or AXIS#.EIP.TP.SOURCE2.

Values for AXIS#.EIP.TP.SOURCE#	Note
-41 to -42	Z pulse for Axis 1 to 2
-31 to -35	Z pulse for Feedback 1 to 5: No existing product currently supports Z pulses on FB 1, 2, 4 and 5, therefore the corresponding values may not exist. X23 is optional, when not fitted FB 3 won’t be available, therefore the corresponding value may not exist.
-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	DIN1 to DIN12: When X22 is not fitted options -9 to -12 will not be valid.
0	Reserved
1	DIN1. Fast Opto
2	DIN2. Fast Opto
3-4	Reserved
5	Valid if AXIS#.PL.FBSOURCE is using a feedback that supports a Z pulse.
6 to 255	Reserved

The following diagram shows the sequence for controlling the touch probe feature.

diagram showing the sequence for controlling the touch probe feature