罗克韦尔1784-U2DHP

1784-U2DHP

探针功能用于快速捕获伺服轴的位置。经常用于印刷、贴标等伺服应用场合。探针是一个IO信号，当PLC捕获到探针信号的上升或下降沿时，马上把当时的伺服轴当前位置保存下来。

　　探针功能要求有响应性。因此，在探针使用时，需从多个角度确保这种高速响应特性。

　　第一，使用伺服的高速输入信号，高速输入和普通输入信号，其硬件响应时间是不一样的，普通IO的响应时间是ms级，快速IO的响应时间是μs级。尽管时间都很短，但当伺服轴高速运转时，其精度差别是非常大的。

　　第二：IO使用伺服侧的信号，比如Microflex e190的DI1 & DI2都是快速输入信号。伺服轴的位置在驱动器侧本地捕获，与使用PLC侧的IO信号相比较，响应更直接迅速。

　　第三：伺服IO信号通过PDO映射到PLC侧，由EtherCAT总线保证实时性。

　　第四：处理探针的PLC侧程序放到MotionSolution_Task下，此Task下程序的处理周期与EtherCAT通讯周期同步，以保证快速响应。

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