Festo Электромотор MTR-DCI - Manual (Page 157)

5. Commissioning
5-69
Festo P.BE-MTR-DCI-PB-EN en 1209a
3. Teaching takes place via the handshake of the bits in the
control and status bytes CPOS/SPOS:
1
Ready for teaching
2
Value transferred
1
0
Acknow-
ledgment
SPOS.B3
Teaching value
CPOS.B5
1 2
1
0
Fig. 5/6: 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.1.10 and B.1.11)
Parameters involved Description FCT PNU CI
Teach target – 1) 520 21FCh
Set number – 1) 400 2033h
Start CPOS.B5 = Falling edge: Teach value
Feedback signal SPOS.B3 = 1: Value transferred
Requirement Device control by PLC/fieldbus
Controller must be in status “Operation enabled”
1) Teach function is made possible in the Festo Configuration Tool by special functions.
Tab. 5/22: Parameters involved for teaching