Starting teaching

After selecting the teaching mode and entering the respective module, the teaching can be started.

The teaching is started and takes a few seconds.

The messages Teaching is started and Teaching is stopped appear in the message window Error List.

If the message […] are not in the expected range (-600.000000, 600.000000) appears, the modules are not compensated and have a sensor revision level of ≤ 17.

If the message Mover lost errors appears:

If warnings are displayed in the Error List or Output message windows, there may be a problem with your module's encoder. Contact the product specialist responsible for your region.

The teaching is complete as soon as all empty modules have been compensated. Depending on the number of modules, the movers and the teaching mode, teaching must be repeated several times until each module has been calibrated empty. In the IncludedSpecifiedItems mode, check that there are no movers on the modules entered in the input field selectionString.

The configuration must be activated again after checking and correcting the entries.

Messages appear in the Error List message window indicating that the teaching file was loaded and the plausibility check was successful.

If the teaching file was not loaded and the plausibility check was not successful:

If warnings are displayed in the Error List or Output message windows, there may be a problem with your module's encoder. Contact the product specialist responsible for your region.

If TwinCAT is in Run mode, the result of the teaching can also be checked in the project window on the Parameter (Online) tab.

If the teaching file has been overwritten, the parameter IsTeachingChanged indicates TRUE.

If the teaching was valid and the teaching file was loaded correctly, the parameter IsTeachingValid indicates TRUE.

If the teaching file uses the latest version, the parameter IsTeachingFileUpToDate indicates TRUE.