Configuring the "MultiMotion touchprobe"

To use the touchprobe positions of the inverters as the source (source "InverterTouchprobe") for the touchprobe function of MOVIKIT® Robotics, the touchprobe function of all individual axes of the robot must be configured accordingly (except axes subordinate to a MOVIKIT® MultiAxisController).

The touchprobe function of the inverters is activated in the "Module configuration" > "Basic settings" configuration menu of MOVIKIT® MultiMotion under "Additional functions". The configuration of MOVIKIT® MultiMotion is then extended in the "Additional functions" submenu by the configuration menu described below. The following table provides information about the parameters of this configuration menu with regard to using the function together with MOVIKIT® Robotics. Usually the default settings can be used. For a detailed description of the configuration menu, refer to the MOVIKIT® MultiMotion manual.

Parameter

Value

General

Touchprobe source

Set "Inverter" as the touchprobe source here.

Mode

The selection of the touchprobe mode is irrelevant in this case because it is overwritten by the SRL program.

Trigger

Source

Source for actuating the trigger, e.g. DI 01 or DI 02

Event

Selection of the type of edge used for triggering. This parameter cannot be set using the SRL program.

  • Rising edge
  • Falling edge
  • Rising and falling edge

Sensor dead time rising edge

Optional setting of the dead time of the sensor in use for the rising edge at the trigger input. This time will be included in the calculation of the touchprobe result value.

Data source

Data source

Set "Actual position in user units" here.