Festo VTEM - Sequence of Teach-In Run; Saving the Teach-In Data; Validity of Teach-In Data Based on Parameter Changes

Festo — VTEM — 2021-05f
Function
79
Status Bit 6 Bit 5 Bit 4 Bit 3 Dec.
completed with restrictions (completed with limitations,
reduced performance)
1 0 1 1 11
Partially completed ((2) valid)
(partitially completed ((2) valid))
1 1 0 0 12
Partially completed ((4) valid)
(partitially completed ((4) valid))
1 1 0 1 13
completed (completed) 1 1 1 0 14
cancelled with error (aborted with error) 1 1 1 1 15
Tab. 100: Status of teach-in run
3.7.4
Sequence of teach-in run
3.7.4.1 Automatic teach-in run
After the teach-in run mode (
è
3.7.2.1 Selection of the teach-in run mode) has been set to “Execute
automatic teach-in run”, the teach-in run starts. Depending on the Motion App for which the teach-in
run is executed, the outputs (2) and (4) are pressurised. A connected drive will move during this step.
The teach-in run status then changes to the value "14" (completed) (
è
3.7.3.2 Status of teach-in run).
3.7.4.2 Manual teach-in run
The manual teach-in run is to be understood as an alternative to an automatic teach-in run
è
3.7.4.1
Automatic teach-in run. It is not available for every Motion App.
After the teach-in run mode (
è
3.7.2.1 Selection of the teach-in run mode) has been set to “Execute
manual teach-in run”, the drive can be moved between the end positions using the control for the
manual teach-in run (
è
3.7.2.2 Controlling the manual teach-in run).
The process can be observed using the “status of the teach-in run” (
è
3.7.3.2 Status of teach-in run).
The teach-in run is completed when the “status of the teach-in run” changes to the value “14”
(completed).
3.7.5 Saving the teach-in data
The teach-in data and reference values determined during the teach-in run are automatically saved in
the active parameter set on the Motion Terminal controller as persistent data.
While the Motion App is running, the teach-in data are continuously reviewed and adjusted if appro-
priate. These adjustments are also saved directly as persistent data.
3.7.6 Validity of teach-in data based on parameter changes
In the event of a change to the system, application and/or tuning parameters, the teach-in data and
reference values are discarded, as in this case it must be assumed that they no longer match the
modified configuration.
Therefore, following the change to the system, application and/or tuning parameters in a parameter
set, a new teach-in run must be executed for the Motion App affected by the changes.