Back to top
The touch probe feature of EtherCAT is simply a position capture.  In fact, it uses the position capture feature in the AKD.  When touch probe is set up and enabled, it automatically configures and arms the AKD’s position capture.  There are two touch probes available, corresponding to CAP0 and CAP1 in the AKD.  Each touch probe is configurable to use the positive edge, negative edge, or both.  There is a status word indicating the enable status of each Touch Probe and whether each edge has been triggered.

The following pertains to applications using the KAS PxMM controller with AKD drives. It contains relevant information you may need to know when setting up position capture with the PLCopen motion engine

KAS can use 1 or both capture engines inside the AKD drive to full fill the needs of an application. There is information on this in the KAS IDE manual. To access the information do a word search on capture.

Key concepts to remember when setting up the position capture with PLCopen Motion:

When using time-based capture with MC_TouchProbe, one may find that the accuracy of the captured position depends on the travel velocity of the captured axis.

In a KAS/AKD application, by default, the input source for the AKD capture engines are defined during the Ethercat network startup and detailed in the KAS project in the DRIVE COE Init-Commands screen in the KAS IDE.  To specify a different source, the command source must be changed or this command deleted from the DRIVE COE Init-Commands screen, and the source then defined in the Position Capture screen in the Work Bench screen.  Please note, if the AKD source is specified in both places, the CoE Init-command will override the setting in the AKD