MCA_TouchProbeOBIO (FB)

FUNCTION_BLOCK MCA_TouchProbeOBIO

A binary input can be used to save a counter value at rising edge.

It is possible to use the MCA_TouchProbeOBIO with respect to CounterValue from: OBIO_PTOMotionKernel (FB) or OBIO_PTOSingleLineMotionKernel (FB)

precondition

the respective channel is configured as touch trigger.

precondition

OBIO_PTO_Parameter.Create_PTO_Position=TRUE. Otherwise, a touch trigger has to be applied to the counter which is used to provide DRIVE_ACTUAL_POSITION

Up to 4 touch trigger are possible.

The counter value is saved independently from PLC cycle with a delay of <10 microseconds.

Note

This block should just be called once per cycle otherwise inconsistent values could be send to PRU, if send twice in short time.

InOut:

Scope	Name	Type	Comment
Input	Enable	BOOL	will enbale the touch trigger with a rising edge
	Channel	BYTE	0..3, refers to the Touchprobe channel (different from PTO channel)
	Invert	BOOL	by default, use rising edge. With Invert=TRUE, falling edge is used
	ContinuousMode	BOOL	with ContinuousMode=TRUE and Enable=TRUE, the touch trigger will reenable itself automatically. In this mode, the output Valid will be true for just 1 cycle. With ContinuousMode=FALSE, a rising edge at Enable is required to retrigger the next TouchProbe, this will set output Valid=TRUE until Enable=FALSE. Also with ContinuousMode=TRUE, it is required to call the block every PLC cycle.
	Axis	Axis_Ref	Reference to PTO Axis.
Output	Valid	BOOL	Indicates CounterTouchPosition is ready. Will be TRUE when TouchProbe is found, just 1 cycle with ContinuousMode=TRUE
	Busy	BOOL
	Error	BOOL
	PTO_ErrorID	AC500_OnboardIO.Error_ID	Error code. For error details refer to AC500_OnboardIO library Enum Error_ID
	TouchPosition	LREAL	[u] captured counter value, valid with ReadyTouch.