Chapter 9 Functions
9-94
9.7 Data Modification Function
This function is for changing operation data and operation parameter of APM module.
9.7.1 Teaching Array
User may change the operating speed and the goal position of the step user designated with teaching
command but without XG5000.
(1) Characteristics of Control
(a) This command is for changing operating speed or the goal position on several steps.
(b) User may change maximum 16 data.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When executing teaching to operation data of APM module and operating APM module in power connection,
user may change speed value or position value but the speed value and position value are not saved in non-
power connection.
■ ROM teaching
When executing teaching to operation data of APM module and operating APM module in power connection,
user may change speed value or position value and operation data is saved permanently even in non-power
connection.
(d) The value of goal position being changed is position teaching, the value of operating speed being changed
is speed teaching.
(e) The axis in operation may be the subject of position teaching or speed teaching.
(f) If user changes the value of goal position or operating speed frequently, this command is very useful for it.
(g) Auxiliary data setting of teaching array command
■ Single teaching
Items Setting value Description
Step 0 ~ 150 Set the step no. for teaching
Position
0 : RAM teaching
1 : ROM teaching
Set the method of teaching
Data
0 : Position
1 : Speed
Set the data items for teaching
■ Teaching array
Items Setting value Description
Step 0 ~ 150 Set the step no. for teaching
Position
0 : RAM teaching
1 : ROM teaching
Set the method of teaching
Data
0 : Position
1 : Speed
Set the data items for teaching
Number 1 ~ 16 Set the number of step
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