Chapter 9 Functions
9-95
Note
The teaching data must be set in the data setting area for teaching array before teaching array
command is executed. Refer to the teaching array command TWR.
(2) Restrictions
Teaching array command may not be executed in the case as follows.
(a) Execute teaching to the axis in operation.
▪ If it is position teaching, (Error code: 461)
▪ If it is speed teaching, (Error code: 463)
(b) The number of teaching array is out of the range (1~16). (Error code: 462)
(c) Teaching step no. is out of the range (1~150). (Error code: 465)
Total number (Teaching step no. + The number of Teaching) must be below 150.
9.7.2 Parameter Change from Program
User may modify the operation parameter set on XG5000 with teaching command for each parameter.
(1) Characteristics of Control
(a) There are 6 kinds of parameter teaching command. (Basic, Extended, Manual operation, Homing, External
signal, common parameter teaching)
(b) Parameter teaching is not available in operation.
(c) Parameter is saved in RAM. If you want to save the parameter permanently, use WRT instruction.
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