Festo Контроллеры двигателя SFC-LAC - Manual (Page 169)

5. Commissioning
5−67
Festo GDCP−SFC−LACI−CO−EN en 0812NH
3. Teaching takes place via the handshake of the bits in the
FHPP control and status bytes CPOS/SPOS:
1
Ready for teaching
2
Value transferred
1
0
Acknow−
ledgement
SPOS.B3
Teach value
CPOS.B5
1 2
1
0
Fig. 5/3: Handshake when teaching
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 +
fieldbus + motor controller there will be inaccuracies of
several millimetres even at a speed of only 100 mm/s.
Overview of parameters involved (see sections B.3.7 and B.3.8)
Parameters involved Description FCT PNU CI
Teach target ć 1) 520 21FCh
Record number ć 1) 400 2033h
Start (FHPP) CPOS.B5 = falling edge: Teach value
Feedback (FHPP) SPOS.B3 = 1: Value transferred
Condition Device control by PLC/fieldbus
Controller must be in status Operation enabled"
1) Teaching is made possible in the Festo Configuration Tool by means of special functions.
Tab. 5/15: Parameters involved in teaching