Festo Контроллер позиционирования CPX-CMAX User Manual
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3. Drive functions
3−53
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Teaching is done via the bit handshake in the control and
status bytes CPOS/SPOS (Fig. 3/9). The teach tar get is
acknowledged in byte 4 of the input data (parameter 1)
with the positive edge at SPOS.TEACH.
Notes:
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The drive should be stopped during teaching.
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The signaled actual position changes suddenly when
teaching the project zero point.
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As long as CPOS.TEACH = 1, the CMAX does not accept
any starting edge. Therefore, no function can be started
during teaching. Jogging is permissible, however.
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The acknowledgement of the teach target (byte 4 of the
input data, parameter 1) is reset when there is a:
rising edge at CPOS.TEACH
rising edge at CPOS.START
change in the operating mode (CCON.OPM1/CCON.OPM2)
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When teaching the software end position, there should be
no parameter error E09. That means that the upper softĆ
ware end position must always be greater than the lower
one. If that is not the case, error E44 is signaled and the
taught value is not accepted.
Recommendation: First teach the upper software end
position and then the lower one. If no software end posiĆ
tion has been taught yet, the lower software end position
can also be taught first. The upper software end position
is then automatically set to the upper hardware end posiĆ
tion by the CMAX.