Festo Электромотор MTR-DCI - Manual (Page 158)

5. Commissioning
5-60
Festo P.BE-MTR-DCI-DN-EN en 1209a
1
Ready for teaching
2
Value transferred
1
0
Reset
SPOS.B3
Teach value
CPOS.B5
1 2
1
0
Fig. 5/3: Handshake when teaching
Note:
The drive does not need to stop moving for teaching. How-
ever, a speed of 1 m/s means that the actual position
changes by 1 mm every millisecond. With the usual cycle
times of PLC + Fieldbus + motor controller, there will still 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 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/Fieldbus
Controller must be in status “Operation enabled”
1) Teaching is made possible in the Festo Configuration Tool by special functions.
Tab. 5/20: Parameters involved in teaching