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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.


I am using AKD Basic controlled through a Beckhoff TwinCAT2 PLC over EtherCAT. I have used AKD_TwinCAT.xml version 2.23 to configure the drives in TwinCAT2.

The default TxPDO (Inputs) use PDO 0x1B0 which sends the following values over...

0x6064:00 Position Actual Value

0x6041:00 Statusword

The following path is the location of the XML files used by TwinCAT3:


The 3.1 folder is used for TwinCAT 3.1.  If you are running a different version, such as 3.0, etc., then there should be a 3.0 folder.

TwinCAT version 2 used the following location for XML files:


There are two XML files for the AKD drive.  One is for TwinCAT version 2 and the other is for version 3.

TwinCAT 2 XML file: AKD_TwinCAT.xml

Valid for S300, S700


Since version 2.3.1 of the DriveGUI it's possible to communicate via the TwinCAT PLC. It's possible to communicate with both TwinCAT versions: 2.x or 3.x. Due to the efficient implementation of ADS-messaging system, the system load is far below the serial communication.