Chapter 6 Command
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6.3.29 Operation Data Teaching (Command: TMD)
(1) Program
(2) Description
Device Description
M00025 Axis X Operation data setting input
D00000.0 Axis X in operation
D00000.1 Axis X error state
D03000 Operation data value
D03012 Operation data items
D01300 Teaching step
Command TMD Operation 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 Operation data value PMLK,constant,D,Z,R,ZR DINT Operation data value to change
OP4 Operation data item PMLK,constant,D,Z,R,ZR WORD Operation data item (1~16, hFF)
Operand
OP5 Step No. PMLK,constant,D,Z,R,ZR WORD
Operation data step No. to change
(0~150)
※
PMLK means P, M, L and K areas.
(a) This is the command that changes the item (OP4) of a step which already set on OP5 among operation data items to
setting value (OP3). At this time, relevant teaching data is saved in RAM. For permanent preservation, use to flash
memory using WRT command.
(b) Operation data setting command is unavailable to be executed when the axis is operating.
(c) Item of operation data is as follows.
Setting value Item Setting range
1 Goal address
2 Cir. Int. aux. point
-2,147,483,648 ∼ 2,147,483,647 [pulse]
3 Speed
1 ∼ 2,000,000 [pulse/s]
4 Dwell time 0 ~ 65,535[ms]
5 M code number 0 ~ 65,535
6 Cir. Int. turns 0 ~ 65,535
7 Operation method 0:single, 1:repeat
8 Control method 0:position control, 1:speed control
9 Operation pattern 0:End, 1:Keep, 2:CONT
10 Coordinate 0:Absolute, 1:Incremental
11 Cir. Int. size 0:Arc<180 1:Arc>=180
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