Festo EMCA-EC-67 CO Series, Description

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10 Control via FHPP
Festo – EMCA-EC-C-HP-EN – 2017-11e – English 171
10.6 Teach mode
During teaching, the current position of the drive is taken as the absolute position value. The position
value is stored in the parameterised teach target (PNU 520) during teaching
è
Tab. 10.18. The drive
can be moved to the desired target position as follows:
– via jogging (JOGP/JOGN)
– via a positioning task
– manually by hand (status: “drive blocked” and brake released)
The drive does not have to stand still for teaching. But inaccuracies of several millimetres can result
even at low speeds, due to the usual cycle times of the controller, data transmission and the EMCA.
With teaching, the currently stored position value is always overwritten. Through the
parameter “Store data” (PNU 127.2), the newest position value can be stored in the per­
manent memory of the EMCA.
10.6.1 FHPP parameter: Teach mode
The following FHPP parameters are available for teach mode.
Overview: FHPP parameters: teach mode
PNU Name Page
400.1 Target record number 279
520 Teach target Tab. 10.18,
292
Tab. 10.17 FHPP parameters for the teach mode
Teach target (PNU 520) is taught PNU Page
= 1 Position setpoint value of the record (specification) PNU 404
1)
281
= 2 Offset axis zero point PNU 1010 306
= 3 Project zero point PNU 500 291
= 4 Lower software end position PNU 501.1 291
= 5 Upper software end position PNU 501.2 291
= 6 Position comparator, min. (lower limit value) PNU 430
1)
287
= 7 Position comparator, max. (upper limit value) PNU 431
1)
287
1) The desired record number of the record must be parameterised in the parameter “target record number” (PNU 400.1).
Tab. 10.18 Overview of teach targets