Festo Контроллер позиционирования CPX-CMAX - Manual (Page 113)

3. Drive functions
3−51
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
1
PLC:
Prepare teaching
2
CMAX:
Ready for teaching
3
PLC:
Teach now
4
CMAX:
Value transferred
1
0
Acknow−
ledgement
SPOS.TEACH
Teach value
CPOS.TEACH
1 2
1
0
3 4
Fig. 3/9: Handshake during teaching
Notes:
ć The drive must not stand still for teaching. However, a
speed of 1 m/s means that the actual position changes by
1 mm every millisecond. With the usual cycle times of the
PLC + fieldbus + CMAX, there will be inaccuracies of sevĆ
eral millimetres, even at a speed of only 100 mm/s.
ć It is still possible to teach the setpoint value if a record is
disabled.
ć If the setpoint value of a non−initialised record is taught,
a corresponding new record is initialised and assigned
default values. Here, the position is fundamentally taught.
ć Only absolute setpoint values are taught. During teachĆ
ing, bit RCB1.ABS = 0 is therefore set in record control
byte 1 of the taught record.