Ketterer KuLi Series, Assembly Instructions Manual

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Programming
3215.72-01i01 Rev. A
P a g e | 31
7.2.2 Teach run during operation

It is also possible to perform a teach run during operation. For
this purpose, a sequence with six pulses must be sent to the
control input.
 After the sixth pulse, which is longer than 100 ms, the Kuli
activates both outputs. The Kuli is now ready for the teach run.
This starts as soon as the control input changes from 24V to 0V.
Both outputs are reset and the Kuli moves to its reference point.
Each time the input signal at the control input changes, a new
position is approached and taught.
Control input Action Output 1 Output 2
6 Pulse Activate teach mode  24V  24V
24->0V Move to reference point  24V  0V
0

24V Move to outer end point

0

24V
24  0V Move to inner end position  24V  0V
 When an end point is reached, the respective output signal is
activated as a feedback. The end positions must be realized by
limiting the travel distance by a mechanical resistance as stable
as possible, which leads to a blocking of the Kuli. In the
parameter set of the Kuli, a safety distance can be defined for
each end position, which prevents too frequent blocking.