The EP3E-PN servo now supports configurations that combine 3, 5, 102, 105, and 111 with auxiliary message 860 for control.
1. Scope of Application
Suitable for Mason EP3E-PN servo, using the 860 auxiliary message Touch Probe function.
2. Principle Overview
The probe function can extract the motor shaft position using the Z-phase signal and the fast hardware input HDI signal for related control applications. Each axis can be set with two trigger signals, which are output to two channels respectively.
3. Debugging environment
Siemens PLC and EP3E-PN
Table 3-1
4. Technical Implementation
4.1 Introduction to 860 Message
The message structure is suitable for probe latch-related applications.
Table 4-1
TB_FUNCTION: Control word, U16
TB_STATUS: Status word, U16
TB1_POS_VALUE: Latch position value on the rising edge of probe 1, I32
TB1_NEG_VALUE: Latch position value on the rising edge of probe 1, I32
TB2_POS_VALUE: Latch position value on the rising edge of probe 2, I32
TB2_NEG_VALUE: Latch position value on the rising edge of probe 2, I32
TB_FUNCTION control word BIT introduction
Table 4-2
Table 4-3
Note: The ON and OFF input widths of the trigger signal should each be at least 2ms; if the trigger signal is a Z signal, do not select a falling edge; the Touch Probe function is only effective when the motor is enabled. See section 6.1.4 of the instruction manual for details.
4.2, 1214C configuration 3 plus 860
4.2.1 Configuration
As shown in the figure below, this is configuration 3 of 1214c plus 860.
Figure 4-1
Function corresponding IO address
Table 4-4
4.2.2 Procedure
After enabling the motor shaft, use MC_MoveJog to test forward or reverse rotation.
Figure 4-2
Note: This applies to relative, absolute, and speed modes.
1) Z-phase signal triggering method
Usage example:
Write 16#1717 into the control word TB_FUNCTION
0000 0000 0001 0111(16#0017) Z phase, rising edge, continuous, trigger enabled, channel 1
0001 0111 0000 0000(16#1700) Z phase, rising edge, continuous, trigger enabled, channel 2
Figure 4-3
Note: Z signal triggering can only use the rising edge. After triggering, the position value will be stored in TB1_POS_VALUE and TB2_POS_VALUE. For example, if 16#1717 is given to the control word, the axis will continuously trigger and save the position value during operation.
2) HDI1 and HDI2 triggering methods
Hardware wiring diagram
Figure 4-4
Usage example:
Write 16#1313 into the control word TB_FUNCTION
0000 0000 0001 0011(16#0013) Input HDI1, rising edge, continuous, trigger enabled, channel 1
0001 0011 0000 0000(16#1300) Input HDI2, rising edge, continuous, trigger enabled, channel 2
Figure 4-5
Note: When the control word TB_FUNCTION input is 16#1313, and there is a rising edge signal at HDI1 or HDI2 input, the latch value will be stored in TB1_POS_VALUE and TB2_POS_VALUE.
