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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.