Delta EtherCAT User Manual

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-25
8
8.21 _ECAT_Slave_Motion_Set_TouchProbe_Config

Syntax
U16 PASCAL _ECAT_Slave_Motion_Set_TouchProbe_Config(U16 CardNo, U16 AxisNo, U16
SlotNo, U16 TriggerMode, U16 Signal_Source)

Purpose
This is for setting the mode of the first Touch Probe function.
Through the servo drive or pulse module which provides Touch Probe function, users can
acquire the pulse (position) when the high-speed digital (DI) signal is triggered.
Apart from setting the first Touch Probe function, this API can be used to enable the first Touch
Probe function simultaneously. (Set CANopen OD code-60B8 bit 0 to 1)

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
TriggerMode U16 Option
This parameter is to define how the Touch Probe
function is triggered:
Please refer to the definition of Slave CANopen 60B8
bit1.
1. Please refer to Description below for Delta’s
product.
Signal_Source U16 Option
This parameter is to define the source trigger signal:
1. Please refer to the definition of Slave CANopen
60B8 bit2.
2. Please refer to Description below for Delta’s
product.

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U16 TriggerMode =1; // Continuous recording; It will record the pulse (position) once the signal is
triggered.
Signal_Source=1; // Motor’s Z pulse is regarded as the trigger signal of Touch Probe 1
Status = _ECAT_Slave_Motion_Set_TouchProbe_Config(CardNo, AxisNo, SlotNo,
TriggerMode, Signal_Source);
Status = _ECAT_Slave_Motion_Set_TouchProbe_QuickStart(CardNo, AxisNo, SlotNo);

Delta EtherCAT Specifications

General

Brand	Delta
Model	EtherCAT
Category	Control Systems
Language	English