IDN 170 (S-0-0170) Procedure: Probing

Probing is used to capture position data when a digital input changes. Each probe may trigger a position capture using both edges (rising and/or falling) of the digital input signal if the edges are separated by at least 2 milliseconds. The „Probe Control Parameter“ ( IDN 169 ) is used to configure the digital input edges that will trigger a position capture. Once the probe procedure is started by the master (set IDN 170 to 3), it will continue indefinitely until either the master cancels the probing procedure, or a probing error occurs. The probing procedure will fail under the following conditions:

1. The „Homing“ procedure ( IDN 148 ) is active.
2. A digital input has not been configured as a position capture input ( IDN 3001 .

During the probing procedure, the master arms the probe trigger by setting a „Probe Enable“ signal ( IDN 405 or IDN 406 ). After the probe trigger has been armed, the next rising and/or falling edge(s) (as specified in IDN 169 ) on the probe inputs ( IDN 401 or IDN 402 ) will latch the motor position and cause the corresponding „Probe Position Latch Status“ ( IDN 179 ) bits to set.

Any further changes in the probe input are ignored until the master re-arms the probe trigger by clearing and setting the probe enable signal. The master may read captured positions through the „Probe Positive Edge Value“ ( IDN 130 and IDN 132 ) and the „Probe Negative Edge Value“ ( IDN 131 and IDN 133 ).

The drive supports two physical probe input that must be pre-configured through IDN 3001 and IDN 3000 before starting the probe procedure. It will be select with IDN 3018 Probe 1 with the physical input 2 and Probe 2 with the physical input 1 and all combination for the feedback types for both probes.

Although it is possible to use only one physical probe input (digital input 2) with the two logical probes that are operated independently. Logical probe 1 supports capturing the motor feedback while logical probe 2 supports capturing the external feedback.