Probe Unit
The latch/probe functionality implemented in the AX5000 is compliant with the probe functionality defined in the Sercos specification (v2.4).
IDNs involved
 | IDN-description A detailed description of the individual IDNs can be found the following document: AX5000 - IDN Descriptions. |
IDN | Name |
|---|---|
S-0-0130 | Probe 1 value positive edge |
S-0-0131 | Probe 1 value negative edge |
S-0-0169 | Probe control parameter |
S-0-0170 | Probing cycle procedure command (pc) |
S-0-0179 | Probe status |
S-0-0405 | Probe 1 enable |
S-0-0409 | Probe 1 positive latched |
S-0-0410 | Probe 1 negative latched |
P-0-0154 | Feedback 1 reference signal |
P-0-0250 | Probe 1 value source |
P-0-0251 | Probe 1 logic configuration |
P-0-0252 | Probe 1 logic state |
P-0-0253 | Probe 1 time positive edge |
P-0-0254 | Probe 1 time negative edge |
P-0-0255* | Probe 1 time difference: reference switch to index |
P-0-0256* | Probe 1 data |
*) In preparation.
Functioning
The signal source (reference signal feedback, RSF) is selected with IDN P-0-0251. The reference signal of the encoder system or a simple digital input or a combination of 2 inputs can be selected.
The following signals are available for selection:
P-0-0251.Mux1 | Input |
|---|---|
0 | DigIn 0 |
1 | DigIn 1 |
2 | DigIn 2 |
3 | DigIn3 |
4 | DigIn4 |
5 | DigIn5 |
6 | DigIn6 |
7 | DigIn7 |
P-0-0251.Mux1 | Input |
|---|---|
0 | DigIn 0 |
1 | DigIn 1 |
2 | DigIn 2 |
3 | DigIn3 |
4 | DigIn4 |
5 | DigIn5 |
6 | DigIn6 |
7 | DigIn7 |
8 | Reference Signal Feedback Front |
9 | Reference Signal Feedback Option Card |
| rsvd. |
P-0-0154 | Input |
|---|---|
0 | Zero Index |
1 | Magnitude of sine signal |
2 | Magnitude of cosine signal |
3 | rsvd |
The parameter P-0-0154.ThresholdVoltage can be used to modify the threshold level (if zero index is selected).
IDN P-0-0154 can only be edited in EtherCAT state PreOperational. In states SafeOperational and Operational this IDN is write-protected.
The selected signals are linked via the following logic:
P-0-0251.Logic | Logic output |
|---|---|
0 | Output Mux 1 |
1 | Output Mux 2 |
2 | Ouptut Mux 1 AND Output Mux 2 |
3 | Output Mux 1 OR Output Mux 2 |
5 | Output Mux 1 AND rising edge output Mux 2 |
Probe Value-Source
IDN P-0-0250 is used to select which value (e.g. actual position) is to be stored for the latch event.
P-0-0250 | Source |
|---|---|
0 | Position feedback value 1 (S-0-0051) |
1 | rsvd |
The command S-0-0170 is activated internally in the probe cycle, and the parameters of IDNs P-0-0250 and P-0-0251 are transferred internally. These two IDNs are write-protected if this command is active.
- IDN P-0-0252 indicates the current state of the logic upstream of the probe unit.
- IDN S-0-0169 is used to activate edges at which a latch event is to be triggered.
The probe unit is activated with IDN S-0-0405. If S-0-0405 is associated with a falling edge the result-registers are reset to 0.
IDN-S.0-0179 (or S-0-0409 and S-0-0410) indicates whether a latch event has occurred.
After a latch event the associated data are entered in IDNs S-0-0130, S-0-0131, P-0-0253, and P-0-0254.
Configuration sequence
- Feedback 1 reference signal (P-0-0154) (only possible in EtherCAT state PreOperational)
- Probe 1 value source (P-0-0250)
- Probe 1 logic configuration (P-0-0251)
- Start of "Probing cycle procedure commands" (S-0-0170)
- Probe control parameter (S-0-0169)
- Probe enable (S-0-0405)