MC_TRIGGER_REF

Notes

CoE amplifier latch  features

1. Position data available to be latched
   1. CoE amplifiers can be configured to latch position from any of:
      1. Encoder configured to provide position data for semi- or full-closed operation
      2. Encoder configured as dual feedback (Sigma-7S and Sigma-XS).
2. Internal latch signals
   1. CoE amplifiers can latch encoder position based on the index pulse (C-pluse).
   2. For CoE amplifiers only, the source of the C-pulse can be either the servo position control encoder (1.1.1 above) or the dual feedback encoder (1.1.2 above). The source becomes the dual feedback encoder when the encoder is configured and Pn00E.3 is set.
3. External latch signals
   1. On CoE amplifiers, the latch nomenclature is PROBE1, PROBE2, and HOME. PROBE1 is analogous to EXT1, PROBE2 is analogous to EXT2, and HOME is analogous to EXT3 on Mechatrolink.
4. External latch signal mapping
   1. The default CoE latch signal is:
      1. PROBE1 = SI4
      2. PROBE2 = SI5
      3. HOME = SI6
5. CoE amplifier signal mapping limitation
   1. For CoE amplifiers, only PROBE1 and PROBE2 can be used for latching via PLCopen FB. (HOME is reserved for CiA-402 homing routines supported by the amplifier firmware but not exposed via function block.)
6. Touchprobes
   1. CoE amplifiers contain two parallel latch functions called Touchprobe 1and Touchprobe 2. They have similar functionality, but their configuration has some limitations:
      1. Touchprobe 1
         1. Can be configured to trigger off external signal PROBE1 or internal C-pulse.
      2. Touchprobe 2
         1. Sigma-7S: Can only be configured to trigger off external signal PROBE2.
         2. Sigma-XS: Can be configured to trigger off external signal PROBE2 or internal C-pulse.  Trigger is possible from a rising edge only. (not supported: falling or both rising and falling edges.)
   2. The touchprobes have different behavior depending on whether external encoder monitoring is enabled.
      
   1. If a dual-feedback encoder is configured (Pn00E.3 is set) and Touch Probe Function object 0x60b8 bit 6 is clear:
   1. Both Touchprobe 1 and 2 are allocated to the motor encoder
   2. If a dual-feedback encoder is configured (Pn00E.3 is set) and Touch Probe Function object 0x60b8 bit 6 is set:
   1. Sigma-7S: Touchprobe 1 is allocated to the external encoder and Touchprobe 2 is unavailable (due to bug in CoE firmware; see Helix EtherCatOpt database SCR 746)
   2. Sigma-XS: Touchprobe 1 is allocated to the CN12 encoder and Touchprobe 2 is allocated to the CN2 encoder

 Function block considerations for CoE amplifier:

1. MC_TouchProbe
   1. User must select Touchprobe and signal. Allowable signal selection depends on chosen Touchprobe according to note 6.1 above.
   1. Sigma-7S
      
      1. To useTouchprobe 1
         1. Set TRIGGER_REF.ID = 0 (select Touchprobe 1)
         2. Choose a supported trigger signal:
            1. To use PROBE1 set TRIGGER_REF.bit = 1
            2. To use C-pulse set TRIGGER_REF.bit = 0
      2. To use Touchprobe 2
         1. Set TRIGGER_REF.ID = 1 (select Touchprobe2)
         2. Set TRIGGER_REF.bit = 2 (select PROBE2--other settings are not allowed)
   2. Sigma-XS
   1. To use Touchprobe 1
   1. Set TRIGGER_REF.ID = 0 (select Touchprobe 1)
   2. Choose a supported trigger signal:
   1. To use PROBE1 set TRIGGER_REF.bit = 1
   2. To use C-pulse set TRIGGER_REF.bit = 0
   3. Configure latch signal edge sensitivity:
   1. To trigger off rising edge only:  Set latch config controller parameter bit 0 and clear bit 1 (default setting)
   2. (not supported: To trigger off falling edge only:  Set latch config controller parameter bit 1 and clear bit 0)
   3. (not supported: To trigger off both rising and falling edges:  Set latch config controller parameter bits 0 and 1)
   4. To inhibit latch trigger:  Clear latch config controller parameter bits 0 and 1
   2. To use Touchprobe 2 
   1. Set TRIGGER_REF.ID = 1 (select Touchprobe2)
   2. Choose a supported trigger signal:
   1. To use PROBE2 set TRIGGER_REF.bit = 2
   2. To use C-pulse set TRIGGER_REF.bit = 0
   3. Configure latch signal edge sensitivity:
   1. To trigger off rising edge only:  Set latch config controller parameter bit 2 and clear bit 3 (default setting)
   2. (not supported: To trigger off falling edge only:  Set latch config controller parameter bit 3 and clear bit 2)
   3. (not supported: To trigger off both rising and falling edges:  Set latch config controller parameter bits 2 and 3)
   4. To inhibit latch trigger:  Clear latch config controller parameter bits 2 and 3
2. MC_ReadParameter
   1. No difference compared to M3 amplifier. Use parameters 1030-1033 (latch channel 1/2 cyclic/non-cyclic) according to the channel
3. MC_StepRefPulse
   1. This FB internally makes use of Touchprobe 1.So when using this function block, concurrent use of Touchprobe 1 via MC_TouchProbe is not allowed.
   2. User selects between motor and dual feedback encoder C-pulse according to 6.1.2 above.

Note that default pin assignments can be changed according to the value of drive parameter Pn511.

Counter 1x32Bit (050-1BA00)

User must provide a wide trigger signal to the latch input. The trigger signal pulse must, at minimum, be as as wide as the network scan period.

MC_TRIGGER_REF.ID = 0

MC_TRIGGER_REF.Bit = 0 or any UINT. There is only one Latch input (Pin 4) on this module.