Manual

A. Technical appendix
A−12
Festo P.BE−SFC−DC−PB−S7−EN en 0604NH
1 Ready for teaching
2 Value transferred
1
0
ACK_Teach
Teach_
Actual_Value
12
1
0
Fig.A/2: Handshake when teaching
Note:
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 appendix B.1.2)
Parameters involved Description PNU
Teach target 520
Record number 400
Start SFC_DC_CONTROL  Teach_Actual_Value = falling edge: Teach value
Reply message SFC_DC_CONTROL  Ack_Teach = 1: Value transferred
Prerequisites Device control via PLC/field bus (Drive_Control_FCT_HMI = 0)
Controller in status Drive enabled" (Drive_enabled = 1)
Tab.A/8: Teach parameters involved