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Chapter 13 Control Sub Functions
13.7.4 Teaching function
The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, inching operation manual pulse generator operation) in the positioning
data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc address").
The details shown below explain about the "teaching function".
[1] Control details
[2] Precautions during control
[3] Data used in teaching
[4] Teaching procedure
[5] Teaching program example
[1] Control details
(1) Teaching timing
Teaching is executed using the sequence program when the BUSY signal
is OFF. (During manual control, teaching can be carried out as long as the
axis is not BUSY, even when an error or warning has occurred.)
Signal QD77MS2/QD77MS4 QD77MS16
BUSY signal XC to XF X10 to X1F
(2) Addresses for which teaching is possible
The addresses for which teaching is possible are "current feed values"
([Md.20] Current feed value) having the OP as a reference. The settings of
the "movement amount" used in incremental system positioning cannot be
used. In the teaching function, these "current feed values" are set in the
"[Da.6] Positioning address/movement amount" or "[Da.7] Arc address".
Positioning data
Positions aligned by manual
control
"Current feed value" A
[Da.6] Positioning address/movement
amount
"Current feed value" B
[Da.7] Arc address
(3) Dedicated instructions "ZP.TEACH 1, ZP.TEACH 2,
ZP.TEACH 3, ZP.TEACH 4"
When the dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH 3,
ZP.TEACH 4" are used to execute the teaching function, the programming
becomes easier. Refer to Chapter 15 "Dedicated Instructions" for details.