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EtherCAT Mode

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ASDA-A3

13

Example 3: the following is the timing diagram for the Touch Probe 1 function. In this example,

the Touch Probe 1 function is triggered by the motor Z pulse. The data is captured

multiple times when the Touch Probe 1 signal is rising-edge triggered.

Bit 0

Touch Probe 1 switch

t

OD 60B8h

Bit 1

Touch probe

Touch Probe 1 number

function

of capturing times

t

Bit 2

Touch Probe 1

capture source

t

OD 60B9h

Touch probe

status

Bit 0

Touch Probe 1

function status

Bit 1

Touch Probe 1

rising-edge capture

Bit 7

Touch Probe 1

signal for capturing

multiple times

Touch Probe 1 signal

(motor Z pulse)

0x60BAh

Touch probe pos1

pos value

Position 0

Position 1

Position 2

Position 3

Position 4

t

t

t

t

Position 5

t

Relevant object list

Index

60B8h

60B9h

60BAh

60BBh

60BCh

60BDh

Name

Touch probe function

Touch probe status

Touch probe pos1 pos value

Touch probe pos1 neg value

Touch probe pos2 pos value

Touch probe pos2 neg value

Note: for more details, refer to Section 13.4.3 Details of objects.

Data type

UNSIGNED16

UNSIGNED16

INTEGER32

INTEGER32

INTEGER32

INTEGER32

Access

RW

RO

RO

RO

RO

RO

13-44

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