AKD2G Support With MC_TouchProbe

These are tips related to using MC_TouchProbe with AKD2G drives.


  • AKD2G only supports position capture.
  • AKD2G does not use CAP1 or CAP2 to provide the EtherCAT 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.

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

      Axis 1 Index

      Axis 2 Index

      Name

      Note

      60B8h

      68B8h

      Touch probe function / 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 pre-populates these 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 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 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 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.