Question:
In the CCTRL function block four different touch probe modes can be selected under code C1349/000? What is the meaning of them?
Answer:
Two different functionalities are available for the synchronisation of the motor to the machine measurement system:
1. Cyclic synchronisation (touch probe compensation): The drive is synchronised to a label on a slipping medium.
2. One-time homing for an absolute encoder system.
For relative curves the zero point of the curve can be set:
3. Definition of the curve's zero point relative to the machine measurement system via the function block input CCTRL-CLR-INTEG.
The different touch probe modes affect this functionality in different ways.
The touch probe mode can adopt four different values which affect the different inputs.
- Mode 0 : CW Touch probe possible only with CW rotating axis. Compensation is hard via following error.
1. CCTRL-CLR-INTEG = TRUE sets all integrators and output signals of CCTRL to zero (CCTRL-POUT=0; CCTRL-PHI-ACT=0; CCTRL-PHI-SET2=0; CCTRL-PHI-SET=0; CCTRL-MOUT=0; CCTRL-NOUT=0).
2. CCTRL-RESET= TRUE has no effect.
3. The touch probe is also synchronised to the auxiliary integrator (for CCTRL-N2-SET= TRUE).
4. For feed curves the cycle length of CCTRL-PHI-SET and CCTRL-PHI-ACT is subtracted at the end of the cycle (CCTRL-SUB-YEND = TRUE).
Note: The mode is maintained for reasons of compatibility to previous versions only. When using the auxiliary integrator (input CCTRL-NSET2) no master increments must arrive at CCTRL-IN. It is recommended not to use this mode for new applications.
- Mode 1: CCW/CW Touch probe synchronisation is possible for CW/CCW axis.
1. CCTRL-CLR-INTEG = TRUE set all integrators and output signals of CCTRL to zero (CCTRL-POUT=0; CCTRL-PHI-ACT=0; CCTRL-PHI-SET2=0; CCTRL-PHI-SET=0; CCTRL-MOUT=0; CCTRL-NOUT=0).
2. CCTRL-RESET = TRUE forces the output CCTRL-TP-RECOGN to FALSE state.
3. When the auxiliary integrator (input CCTRL-N2-SET = TRUE) is passed the touch probe is not synchronised. For feed curves the cycle length at the signal outputs CCTRL-PHI-SET and CCTRL-PHI-ACT is not subtracted at the end of the cycle (CCTRL-SUB-YEND = TRUE).
4. When passing the main integrator (input CCTRL-N2-SET = FALSE) the position can be corrected by touch probe signals on the shortest way with a defined compensation speed (C1365/001, input in [rpm]) using TP speed mode 1 (C1366/000=1). For feed curves the cycle length is subtracted from the output signals CCTRL-PHI-SET and CCTRL-PHI-ACT at the end of the cycle (CCTRL-SUB-YEND = TRUE).
Note: The mode is maintained for reasons of compatibility to previous versions only.
- Mode 2: Absolute value encoder
1. CCTRL-CLR-INTEG = TRUE sets all integrators and ouput signals of CCTRL to zero (CCTRL-POUT=0; CCTRL-PHI-ACT=0; CCTRL-PHI-SET2=0; CCTRL-PHI-SET=0; CCTRL-MOUT=0; CCTRL-NOUT=0).
2. CCTRL-RESET = TRUE forces the output CCTRL-TP-RECOGN to FALSE state.
3. When selecting the auxiliary integrator (input CCTRL-N2-SET = TRUE) a reference can be set for an absolute value encoder using the input signal CCTRL-TPIN = TRUE. Here, CCTRL-PHI-SET2 = CCTRL-PHI-ACT = CCTRL-TP-POS. For feed curves the cycle length at the signal outputs CCTRL-PHI-SET and CCTRL-PHI-ACT is not subtracted at the end of the cycle (CCTRL-SUB-YEND = TRUE).
4. When passing the main integrator (input CCTRL-N2-SET = FALSE) the position can be corrected by touch probe signals on the shortest way with a defined compensation speed (C1365/001, input in [rpm]) using TP speed mode 1 (C1366/000=1). For feed curves the cycle length is subtracted from the output signals CCTRL-PHI-SET and CCTRL-PHI-ACT at the end of the cycle (CCTRL-SUB-YEND = TRUE).
- Mode 3: Homing
1. CCTRL-CLR-INTEG = TRUE only sets the auxiliary integrators and output signals of CCTRL to zero (CCTRL-PHI-ACT=0; CCTRL-PHI-SET2=0; CCTRL-MOUT=0; CCTRL-NOUT=0). The following error and the value of the main integrator, as opposed to mode 2, remain unchanged if the function block currently uses the auxiliary integrator (input signal CCTRL-N2-SET = TRUE, output signals CCTRL-POUT = const.; CCTRL-PHI-SET = const.). If the CCTRL block currently uses the main integrator (input signal CCTRL-N2-SET = FALSE), the following error is also reset (CCTRL-PHI-ACT=0; CCTRL-PHI-SET2=0; CCTRL-MOUT=0; CCTRL-NOUT=0;CCTRL-POUT=0) and only the value of the main integrator remains unchanged (output signals CCTRL-PHI-SET=const.).
2. CCTRL-RESET = TRUE forces the output CCTRL-TP-RECOGN to FALSE state.
3. When selecting the auxiliary integrator (input CCTRL-N2-SET = TRUE) a reference can be set for an absolute value encoder using the input signal CCTRL-TPIN = TRUE. Here, CCTRL-PHI-SET2 = CCTRL-PHI-ACT = CCTRL-TP-POS. For feed curves the cycle length at the signal outputs CCTRL-PHI-SET and CCTRL-PHI-ACT is not subtracted at the end of the cycle (CCTRL-SUB-YEND = TRUE).
4. When passing the main integrator (input CCTRL-N2-SET = FALSE) the position can be corrected by touch probe signals on the shortest way with a defined compensation speed (C1365/001, input in [rpm]) using TP speed mode 1 (C1366/000=1). For feed curves the cycle length is subtracted from the output signals CCTRL-PHI-SET and CCTRL-PHI-ACT at the end of the cycle (CCTRL-SUB-YEND = TRUE).
Note: For feed curves, the touch probe sensor must not be close to the zero position of the y-axis.
