Instruction Manual

5. Commissioning
5−67
Festo P.BE−GDCP−SFC−LACI−PB−EN en 0812NH
3. Teaching takes place via the handshake of the bits in the
control and status bytes CPOS/SPOS:
1 Ready for teaching
2 Value transferred
1
0
Acknowledgement
SPOS.B3
Teach value
CPOS.B5
12
1
0
Fig.5/5: 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 +
fieldbus + 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 
1)
520 21FCh
Record number 
1)
400 2033h
Start CPOS.B5 = falling edge: Teach value
Acknowledgement SPOS.B3 = 1: value transferred
Condition Device control by PLC/field bus
Controller must be in status Operation enabled"
1)
Teaching is made possible in the Festo Configuration Tool by means of special functions.
Tab.5/18: Parameters involved in teaching