MC_TouchProbe (motion control touch probe)

The MC_TouchProbe instruction records an axis position at a trigger event.
Operation details:
  • If the window direction (first position to last position) is in the opposite direction of the motion direction, the touch probe window does not activate.
  • If the window setting (FirstPosition or LastPosition) is not valid, the MC_TouchProbe function block reports an error.
  • If a second instance of the MC_TouchProbe function block is issued on the same axis, and the first function block instance is in a Busy state, the second function block instance reports an error.
  • Only one MC_TouchProbe function block instance should be issued to one axis.
Languages supported: Function block diagram, ladder diagram, structured text.
This instruction applies to the L50E and L70E controllers that support motion control.
MC_TouchProbe
MC_TouchProbe
MC_TouchProbe parameters
Parameter
Parameter Type
Data Type
Description
EN
Input
BOOL
Instruction block enable.
  • TRUE: Execute current MC_TouchProbe computation.
  • FALSE: There is no computation.
Applies only to ladder diagram programs.
AxisIn
Input
AXIS_REF
FB_AXIS_REF
Use the AXIS_REF data type to define the parameters for AxisIn.
For a feedback axis, use the FB_AXIS_REF data type to define the parameters for AxisIn.
TriggerInp
Input
USINT
Not supported currently. Configure input trigger in the axis configuration.
Execute
Input
BOOL
  • TRUE: Starts touch probe recording at the rising edge.
  • FALSE: Not executing.
WindowOnly
Input
BOOL
TRUE: Only use the window to accept trigger events.
Motion resolution is limited to the Motion Engine interval configured by the user.
For WindowOnly TouchProbe functionality, there is a maximum response time delay that is equal to the Motion Engine interval for both FirstPosition and LastPosition activation.
The maximum possible lag in the triggering position (both FirstPosition and LastPosition) can be calculated by (Motion Engine interval x moving velocity).
FirstPosition
Input
REAL
Start position of the window from where trigger events are accepted (in technical units [u]). Value included in window.
LastPosition
Input
REAL
Stop position of the window from where trigger events are not accepted (in technical units [u]). Value included in window.
ENO
Output
BOOL
Enable output.
Applies only to ladder diagram programs.
Axis
Output
AXIS_REF
Axis output is read-only in ladder diagram programs.
TriggerInput
Output
USINT
Not supported currently.
Done
Output
BOOL
TRUE: Trigger event was recorded.
Busy
Output
BOOL
TRUE: The function block is not finished.
CommandAborted
Output
BOOL
TRUE: The command was overridden by the MC_Power(OFF), or Error Stop function block.
Error
Output
BOOL
Indicates that an error occurred.
  • TRUE: An error is detected.
  • FALSE: No error.
ErrorID
Output
UINT
A unique numeric that identifies the error. The errors for this instruction are defined in Motion control function block error IDs.
RecordedPosition
Output
REAL
Position where trigger event occurred (in technical units [u]).
Motion is an open-loop motion.
The axis position at the time the trigger event occurs. If the axis motion is an open-loop motion, the commanded position (not an actual position) at the time the trigger event occurs, if there is no motion delay between the drive and the motor.
Motion fixed input/output
Motion Signals
PTO0
PTO1
PTO2
PTO pulse
Output_0
Output_1
Output2
PTO direction
Output_3
Output_4
Output_5
Lower (Negative) Limit switch
Input_0
Input_4
Input_8
Upper (Positive) Limit switch
Input_1
Input_5
Input_9
Absolute Home switch
Input_2
Input_6
Input_10
Touch Probe Input switch
Input_3
Input_7
Input_11

MC_TouchProbe examples

MC_TouchProbe function block diagram example
MC_TouchProbe function block diagram example
MC_TouchProbe ladder diagram example
MC_TouchProbe ladder diagram example
MC_TouchProbe structured text example
MC_TouchProbe structured text example
Results
Results
Axis monitoring
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