Festo Электромотор MTR-DCI - Manual (Page 165)

5. Commissioning
5-67
Festo P.BE-MTR-DCI-CO-EN en 1209a
1
Ready for teaching
2
Value transferred
1
0
Quiting
SPOS.B3
Teach value
CPOS.B5
1 2
1
0
Fig. 5/3: Handshake when teaching
Note:
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 + field
bus + motor controller there will be inaccuracies of several
millimetres even at a speed of only 100 mm/s.
Overview of parameters involved (see sections B.2.8 and B.2.9)
Parameters involved Description FCT PNU CO/CI
Teach target – 1) 520 21FEh
Record number – 1) 400 2190h
Start (FHPP) CPOS.B5 = Falling edge: Teach value
Acknowledgement
(FHPP) SPOS.B3 = 1: Value transferred
Requirement Device control by PLC/field bus
Controller must be in status “Operation enabled”
1) Teaching is made possible in the Festo Configuration Tool by means of special functions.
Tab. 5/19: Teach parameters involved