Manufacturer and Profile Specific Objects (CiA DS-406)
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06/21/2018
7.3 Object 2004h
– Enable Teach-Mode
That the measuring system can be operated at the bus, at first the mechanically
installed Single components, the so-called slaves, must be captured. This can be
performed with the aid of the Teach-in function.
By installation in series of the slaves transition areas are produced, which form the
basis for the capture. Each slave possesses two transition areas, one at the beginning
and one at the end. Exception: The slave after the master and the end component
possess only one transition area.
While the teach-in function is active in each case only one magnet may be within the
same transition area. The teach-in is carried out from the master in direction of the
end. The sequence is not specified and can be carried out arbitrarily.
With read access on this object the status of the teach function can be read out:
Teach-Mode active = 1 (
ENCODER Status LED blinking red
), Teach-Mode inactive =
0.
With write access and the ASCII signature “TSt“ (Teach Start), together with the
HEX value 0xFF, the Teach-Mode is started
and the actual position value is set to “0”:
Unsigned32
Byte
Enable Teach-Mode
0
0xFF: teach-in all slaves
No. of the slave, which is to be read in
1
0x74 = “t”
Enable teach-in mode with ASCII
signature = “TSt” (Teach Start)
2
0x53 = “S”
3
0x54 = “T”
Figure 11: Configuration example with four slaves
