Chapter 6 Command
6-25
6.3.22 Single Teaching (Command: TEA)
(1) Program
(2) Description
Device Description
M0001D Axis X single teaching input
D00000.0 Axis X in operation
D00000.1 Axis X error status
D03000 Teaching
D01300 Teaching step
D03010 Select RAM/ROM teaching
D02000 Select position/speed
Command TEA Single teaching
OP1 Slot 상수 WORD
Slot No. installed with positioning module
OP2 Axis
PMLK,constant,D,Z,R,ZR
WORD
Command axis (0: axis X, 1: axis Y)
OP3 Teaching
value
PMLK,constant,D,Z,R,ZR
WORD
Data value for teaching
OP4 Teaching
step
PMLK,constant,D,Z,R,ZR
WORD
Step number for teaching (0~150)
OP5 Teaching
method
PMLK,constant,D,Z,R,ZR
WORD 0:RAM teaching 1:ROM teaching
Operand
OP6 Teaching
item
PMLK,constant,D,Z,R,ZR
WORD
0:position, 1:speed
※
PMLK means P, M, L and K areas.
(a) This command changing goal position or goal speed among operation data of positioning module. At this
time, according to teaching method (OP5), if you select RAM teaching, the changed value is effective
while module’s power is on. If you select ROM teaching, the changed values is kept after power is off.
(b) Teaching is available while relevant axis is operating. But when relevant axis is operating, teaching of
current step number is not available.
(c) Since operation data of positioning module is saved in flash memory, frequency of ROM teaching is limited
to 100,000.
(d)
D device signal (axis X in Operation, etc) which used in the example above is an assumption that saving the axis state
value in D device area with SRD command.
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