Chapter 7 Function Block
7-13
7.4.7 Teaching Array (APM_ATEA)
Form of Function Block Description
Input
REQ : Request for execution of function block
BASE : Set the base no. with module
SLOT : Set the slot no. with module
AXIS : Axis to command
STEP : Set the step no. to do teaching (0~150)
RAM/ROM : Selection of RAM/ROM teaching
0 : RAM teaching, 1 : ROM teaching
POS/SPD : Selection of position/speed teaching
0 : Position, 1 : Speed
TEA_CNT : Set the no. of data to do teaching
1 ~ 16
TEA_VAL : Set the teaching value
Output
DONE : Maintain 1 after first operation
STAT : Output the error no in operation
(1) Give “Teaching Array” command to the axis designated as the axis of positioning module with BASE (Base no.
of Positioning module) and SLOT (Slot no. of Positioning module).
(2) Speed teaching is for user to use random speed value in a operation data of specified step and position
teaching is for user to use random position value in a operation data of specified operation step.
(3) This command is for modifying maximum 16 goal positions/speed value at once with teaching array function
block.
(4) Set an axis to command from 0 ~ 1. If you set wrongly, “Error6” arises.
(5) You may set step no.(0~150) of operation data on STEP. If you set wrongly, “Error11” arises.
(6) You may set the no. of data to do teaching on TEA_CNT and do teaching max. 16. If you set wrongly, “Error11”
arises.
(7) Parameter value modified by teaching command and setting RAM/ROM as “0” is valid within power connection.
If you want to keep the parameter without power connection, execute teaching command with setting “1” on
RAM/ROM or save the modified parameter value on flash memory with APM_WRT (Parameter/Operation Data
Saving command) after teaching.
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