6 Positioning mode
Festo – GDCP-CMMS/D-FW-EN – 1404NH – Engli sh 177
6.10 Teach mode
6.10.1 Function: Teach mode
In the teach mode, the c urrent actual position of the drive can be stored in a positioning record. Prior to
teaching, the drive must be moved to the desired teach po sition (jog mode or manually). The teach
procedure can be triggered directly via the active fieldbus (CANopen/PROFIBUS DP/DeviceNet) or the
digital inputs (mode 1 page 49). The positioning record (1…63) in which the teach position is to be
stored is selected thro ugh direct application (fieldbus) or record selection (fieldbus or digita l inputs).
During direc t application the motor c ontroller receives the positioning record number directly from the
controller “Device profile FHPP” description, GDCP-CMMS/D-C-HP-…. When using record selection,
the teach position is evaluated with the rising edge (control data or DIN8) and with the falling edge
(control data or DIN8) the teach position is temporarily stored in the selected positioning record (posi-
tioning record parameter “Position”). Simultaneously, the parameterised debounc e time starts to run,
which blocks a new evaluation of the record selection during storage.
Note
If the “control section” power supply is interrupted (e. g. powe r failure), the teac h posi-
tions in the main memory will be lost if the positions have not been backed up in the
permanent memory.
– Store the teach position, e. g. with the falling edge of the controller enable signal
(DIN5)[X1.9], in the permanent memory.
Activating the te ach mode via fieldbus/digital inputs
X4
CMMS/CMMD
CANOpen
PROFIBUS DP
Digital inputs
Fieldbus
Control section
X1
X1.1
X1.2
EXT
EXT1
DeviceNet
Inputs
Direct mode Memory:
Positioning record
parameter “Position”
Record selection/
Positioning record:
1…63
Teach
Bit 0…5
Fig. 6.32 Over view: Activating the teac h mode via fieldbus and digital inputs
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