Teaching - Festo CPX Series Manual

3. Drive functions

3.2.7 Teaching

3−50
The following values can be taught:
Setpoint values in the record list (record selection)
Project zero point and software end positions (commis
sioning).
Setpoint value sequence in the record list
Position or force values can be taught. The existing setpoint
values are overwritten here. The type is determined by the
control mode in record control byte 1 (RCB1).
1. Set record select mode
(OPM2 = 0 + OPM1 = 0).
The record number (PLC output data, byte 3) must be
set on the record which is to be taught. It is trans
ferred to CPOS.TEACH with a positive edge.
If a force value is to be taught, the control mode must
be set to force" in record control byte 1 (RCB1).
2. Via jog mode, the drive is put into the desired position by
positioning or manually (by moving by hand in Drive
disabled" state).
3. Teaching is done via the bit handshake in the control and
status bytes CPOS/SPOS (Fig. 3/9).
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH