Chapter 6 Command
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6.3.23 Teaching Array (Command : TEAA)
(1) Program
(2) Description
Device Description
M0001F Axis X teaching data setting input
M00020 Axis X teaching array input
D00000.0 Axis X in operation
D00000.1 Axis X error state
D02000 Axis X teaching array data leading address
Command TEAA Teaching Array
OP1 Slot Constant 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 step PMLK,constant,D,Z,R,ZR WORD leading step No. for teaching (0~150)
OP4 Teaching method PMLK,constant,D,Z,R,ZR WORD 0:RAM Teaching, 1:ROM Teaching
OP5 Teaching item PMLK,constant,D,Z,R,ZR WORD 0:Position teaching 1:Speed teaching
Operand
OP6 Number of
Teaching
PMLK,constant,D,Z,R,ZR WORD Number of step for Teaching (1~16)
※
PMLK means P, M, L and K areas.
(a) This is the command that change the goal position or goal speed (OP5) among the operation data to the number as many
as from the designated step (OP3) to the number of teaching (OP6). In the case of operating RAM teaching according to
the teaching method (OP3), the changed value is maintained during APM is connected to power. In the case of operating
ROM teaching, it is maintained without power connection of APM.
(b) Teaching is available to be executed in operation of teaching axis but won’t be executed when the step operating is in the
area of step to do teaching.
(c) The number of times for ROM teaching is not limited because operation data of positioning module is saved on flash
memory.
(d) Before executing teaching array, teaching data should be set in the teaching array setting area. For teaching array data
setting, refer to TWR command.
(e) 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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