MC_TouchProbe

This function block controls the recording of an axis position at a trigger event.
One of WindowFirstPosition or WindowLastPosition can be left as 'Ignore' if no corresponding limit is desired.

Syntax

Definition:

FUNCTION_BLOCK MC_TouchProbe
VAR_INPUT
    Axis                 : Type_PtpTouchProbe;
END_VAR
VAR_IN_OUT
    TriggerInput         : Reference To  TRIGGER_REF;
END_VAR
VAR_INPUT
    Execute              : BOOL;
    Options              : TouchProbeOptions;
END_VAR
VAR_OUTPUT
    Done                 : BOOL;
    Busy                 : BOOL;
    CommandAborted       : BOOL;
    Error                : BOOL;
    ErrorId              : UDINT;
    RecordedPosition     : LREAL;
    RecordedDcTimestamp  : LINT;
    RecordedEventCounter : UDINT;
    InWindow             : BOOL;
END_VAR

Inputs

Name	Type	Description
Axis	Type_PtpTouchProbe	Reference to the axis
Execute	BOOL	Trigger the command with rising edge.
Options	TouchProbeOptions	Options for the touch probe

In/Outputs

Name	Type	Description
TriggerInput	Reference To TRIGGER_REF	Reference to the trigger signal source like DriveTouchProbeRef or BinaryTouchProbeRef

Outputs

Name	Type	Description
Done	BOOL	Touch probe process succeeded
Busy	BOOL	Function block is not finished and new output values are to be expected.
CommandAborted	BOOL	Command is aborted by another command (MC_AbortTrigger).
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier
RecordedPosition	LREAL	Position where trigger event occurred ([PosUnit]).
RecordedDcTimestamp	LINT	DcTime at trigger event
RecordedEventCounter	UDINT	Number of recorded trigger events
InWindow	BOOL	TRUE if the recorded position is within the configured window.

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x8199	33177	Function Block	Command not allowed. The command is not allowed in the current configuration.
0x81bb	33211	Function Block	Invalid trigger reference for touch probe. The specified touch probe reference is invalid. This can occur if an invalid probe ID, edge type, or trigger mode was specified.

An overview of all NC error codes can be found here:

Other errors

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6