Festo Контроллер двигателя SFC-ST User Manual
Page 96
A. Technical appendix
A−12
Festo P.BE−SFC−DC−PB−S7−E N en 0604NH
1
Ready for teaching
2
Value transferred
1
0
ACK_Teach
Teach_
Actual_Value
1
2
1
0
Fig. A/2:
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 appendix B.1.2)
Parameters involved
Description
PNU
Teach target
520
Record number
400
Start
SFC_DC_CONTROL ć Teach_Actual_Value = falling edge: Teach value
Reply message
SFC_DC_CONTROL ć Ack_Teach = 1: Value transferred
Prerequisites
Device control via PLC/field bus (Drive_Control_FCT_HMI = 0)
Controller in status Drive enabled" (Drive_enabled = 1)
Tab. A/8:
Teach parameters involved