Chapter 6 Command
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6.3.24 Teaching Array Data Setting (Command: TWR)
(1) Program
(2) Description
Device Description
M0001F Axis X Teaching array 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 TWR Teaching Array Data Setting
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 Device PMLK,D,Z,R,ZR WORD Leading device No. with teaching array data
Operand
OP3 Number of data PMLK,constant,D,Z,R,ZR WORD Number of data to save
※
PMLK means P, M, L and K areas.
(a) Teaching data must be set in teaching array data setting area before teaching array is executed.
(b) Teaching array is not executed only by executing teaching array data setting command. Please refer to teaching array
command (TEAA).
(c) According to the leading No. of device, the data are set in teaching array data area as follows.
No. Device NO. Teaching array data
1 Device + 0 Teaching array data 1
2 Device + 2 Teaching array data 2
3 Device + 4 Teaching array data 3
4 Device + 6 Teaching array data 4
5 Device + 8 Teaching array data 5
6 Device + 10 Teaching array data 6
7 Device + 12 Teaching array data 7
8 Device + 14 Teaching array data 8
9 Device + 16 Teaching array data 9
10 Device + 18 Teaching array data 10
11 Device + 20 Teaching array data 11
12 Device + 22 Teaching array data 12
13 Device + 24 Teaching array data 13
14 Device + 26 Teaching array data 14
15 Device + 28 Teaching array data 15
16 Device + 30 Teaching array data 16
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