PTEACH

ASCII - Command

PTEACH

 

 

Syntax Transmit

PTEACH [Data]

 

Syntax Receive

PTEACH <Data>

Available in

 

Type

Command

MMI

No

ASCII Format

Integer8 Integer8

CANBus Object Number

No

DIM

-

PROFIBUS PNU

No

Range

0,1,..,180,192 .. 255

DPR

No

Default

-

 

Opmode

All

Data Type Bus/DPR

-

Drive State

Enabled (only RAM) / Disabled

Weightning

 

Start Firmware

1.67

 

Configuration

No

Revision

1.3

Function Group

Position Controller

EEPROM

-

Short Description

Teach-In Function

Description

The command PTEACH can be used to accept the present position (from the position control loop) as the target position for a motion block.

Syntax: PTEACH QNR [ZNR]

With the PTEACH command, the motion task ZNR is loaded in to a buffer store, the actual position is entered as the target position, and the complete motion task is written to the memory location for ZNR. If the number ZNR is not entered, then the motion task is written back to the memory location for QNR.

When the actual position is accepted, and depending on the state of the F_ART_CALCDAT bit for the type of motion task, the position is calculated either in increments (F_ART_CALCDAT=0) or as SI units (FART_CALCDAT=1).

If the number of the target motion task is within the Flash EEPROM range (1 ... 180) then the PTEACH command is only permitted while the output stage is disabled.