Festo Контроллер двигателя CMMD-AS - Manual (Page 63)

3. Product description
Festo P.BE-CMMD-AS-HW-EN 1002NH 63
Two channels with 256 16-bit values each can be recorded. The following can be
configured:
- Trigger source (current, speed, position, rotor location, end stage voltage,
contouring error, controller enable, limit switch, positioning started, motion
complete, contouring error (message), general error, end stage active, homing
run active)
- Trigger level
- Trigger option (auto, normal, force, rising / falling edge)
- Measurement frequency.
3.7.11 Jog and teach function I/O
The jog and teach function is parametrised via the parametrisation surface (FCT) or a
CANopen object. It can then be activated via the digital inputs for MODE 1. If the jog and
teach function is activated, two additional digital inputs are used to control the motor.
The jog control overrides the current control system in this mode.
With position control, the motor is run continuously with the parameterized profile
(jog mode) (positive / negative) if there is a positive signal to the digital input.
The digital input DIN8 serves to take over the set target position. The status of the digital
position inputs DIN0-DIN3, DIN10 and DIN11 is thereby evaluated and the target position
saved at the corresponding location.
General Information
All positions of the positioning record table can be taught (pos.1-63) . With falling edge of
DIN8, the current position is taken over into the positioning record, which is selected with
DIN0–DIN3, DIN10 and DIN11.
The following sequence must be observed:
- Switch on mode 1
- Jog with DIN10 and DIN11 into desired position
- Switch on DIN8
- Select the postions to be taught with DIN0–DIN3, DIN10 and DIN11
- Switch off DIN8 Store the position in the positioning record table with falling
edge DIN8
Final saving of the taught positions in the permanent memory takes place with falling
edge from DIN5 controller enable.
Note
Make sure that the taught positions are written in the permanent
memory before the controller is switched off.. Incorrect storing can
make the parameter file invalid.
Note
The positions are saved on the SD card only through FCT. And so
when jog/teach (without FCT) is used, an SD card may not be
plugged in or "Read from SD after restart" must be inactive;
otherwise, when the controller is restarted, the old values will be
read off the SD card again.