User guide

3. Drive functions
3−53
Festo P.BE−CPX−CMA X−CONTROL−EN en 0908NH
5. Teaching is done via the bit handshake in the control and
status bytes CPOS/SPOS (Fig.3/9). The teach tar get is
acknowledged in byte 4 of the input data (parameter 1)
with the positive edge at SPOS.TEACH.
Notes:
 The drive should be stopped during teaching.
 The signaled actual position changes suddenly when
teaching the project zero
point.
As long as CPOS.TEACH = 1, the CMAX does not accept
any starting edge. Therefore, no function can be started
during teaching. Jogging is permissible, however.
 The acknowledgement of the teach target (byte 4 of the
input data, parameter 1) is reset when there is a:
rising edge at CPOS.TEACH
rising edge
at CPOS.START
change in the operating mode (CCON.OPM1/CCON.OPM2)
 When teaching the software end position, there should be
no parameter error E09. That means that the upper soft
ware end position must always be greater than the lower
one. If that is not the case, error E44 is signaled and the
taught value is
not accepted.
Recommendation: First teach the upper software end
position and then the lower one. If no software end posi
tion has been taught yet, the lower software end position
can also be taught first. The upper software end position
is then automatically set to the upper hardware end posi
tion by the
CMAX.