Measurement with EtherCAT-Drives
Drive parameters /Connection of measuring probe
In order to use the measurement functionality in the drive an digital input has to be set up as position latch.
This is done by assigning drive parameter IN1MODE or IN2MODE the value 26.
The measuring probe must be connected to the digital input set up for position latching (Connector X3 terminal 11 or terminal 12).
Drive parameter DRVCNFG2 must be set to 6.
Configuration of digital input 2 as probing input
Parameterization of the cyclic telegram
In the cyclic actual value telegram a telegram type has to be set up which contains the following elements:
- Latch status word
- Latch position
The configured cyclic command value telegram must contain the element Latch control word.
Cyclic command value telegram used for measuring
Cyclic actual value telegram for probing
Axis parameters
For EtherCAT drives the following parameters in the axis parameter list must be set up:
- Selection of the active edge of the probing signal with parameter P-AXIS-00113.
- Selection of the drives digital input set up for probing (either digital input 1 or digitalinput 2) with parameter P-AXIS-00295.
P-AXIS-00113 | Measuring on positive edge: kenngr.mess_neg_flanke 0 Measuring on negative edge: kenngr.mess_neg_flanke 1 |
P-AXIS-00295 | Selection of digital drive input for measuring (1/2): antrieb.canopen.probing_input_number |
PROFIDRIVE- Measurement
Drive parameters
For the use of the measuring function the fast digital input I0.0 respectively for a double axes module I0.X of the drive must be programmed.
For that the drive parameter P0660 gets the value 80.
The measuring probe must be connected to the digital input I0.0 resp. I0.X.
Axis parameters
For PROVIDRIVE's the following entries must be assigned in the axis parameter lists:
P-AXIS-00113 | Latching if positive measured signal edge:
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