Touchprobe configuration for the software modules of the lower-level axes

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 single axes of the robot must be configured accordingly (except axes on a lower-level than a MOVIKIT® MultiAxisController).

The touchprobe function of the inverters is activated in the "Module configuration" > "Basic settings" configuration menu of the software module of the lower-level axis under "Additional functions". The configuration of the software module of the lower-level axis 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. A more detailed description of the configuration menu can be found in the respective manual for the software module of the lower-level axis.

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 delay rising edge

Optional setting of the delay 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.