Festo CMMS-AS-G2 Series, Описание

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6 Positioning mode
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English 111
6.9 Teach mode
6.9.1 Function: teach mode
The motor controller can be controlled in teach mode directly via the active fieldbus (CANopen/
PROFIBUS DP/DeviceNet) or the digital inputs (mode 1 page 22). Prior to the teach mode, the drive
must be run into the desired teach position. Through the direct application or record selection, a posi-
tioning record (1…63) can be selected in which the teach position is to be stored. Evaluation of the
teach position is started via the teach bit in the control byte of the fieldbus or with the rising edge of
the teach signal at the digital input (DIN8). With the falling edge of the teach signal, the current actual
position of the drive is temporarily stored in the “Position” positioning record parameter of the selec-
ted positioning record. Simultaneously, the parametrised debounce time starts to run, which blocks a
new evaluation of the record selection during storage.
The teach position is not permanently stored until there is a falling edge of the controller enable signal
(DIN5)[X1.9].
Temporary data are lost when the 24 V DC power supply is switched off or in the event of a
power failure.
6.9.2 Activate teach mode via fieldbus/digital inputs
X4
CMMS-AS-...-G2
CANopen
PROFIBUS DP
Digital inputs
Fieldbus Control section
X1
EXT
DeviceNet
Inputs
Direct application Memory:
Positioning record
parameter “Position”
Record selection/
Positioning record:
1…63
Teach
Bit 0…5
Fig. 6.32 Overview: activate teach mode via fieldbus and digital inputs