Mitsubishi Electric MELSEC iQ-R Series - Page 1775

22 POSITIONING INSTRUCTIONS
22.3 Teaching
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■Applicable devices
*1 FX and FY cannot be used.
*2 T, ST, C, and FD cannot be used.
*3 FD cannot be used.
■Control data
Processing details
• The data of "[Md.20] Current feed value" of one of the following target axes is set in the positioning or arc address. The
positioning data other than the positioning or arc address must be set using the engineering tool or program.
• Positioning data No.1 to 600 can be taught.
• To move to an address (position) to be set as the positioning or arc address of the positioning data, JOG, inching, or manual
pulse operation is used.
• The execution of the TEACH instruction and whether it has been completed normally or with an error can be checked
with the completion device (d) or completion status indication device (d)+1.
Operand Bit Word Double word Indirect
specification
Constant Others
X, Y, M, L,
SM, F, B, SB,
FX, FY
J\ T, ST, C, D,
W, SD, SW,
FD, R, ZR,
RD
U\G, J\,
U3E\(H)G
Z LT, LST,
LC
LZ K, H E $
(U) GP.TEACH  
ZP.TEACH  
(s) 
*3

(d) 
*1

*2

Operand: (s)
Device Item Description Setting range Set by
+0 System area 
+1 Completion status The instruction completion status is stored.
• 0: Completed successfully
• Other than 0: Completed with an error (error code)
 System
+2 Teaching data selection Selects the address to which to write the current feed value
(positioning or arc address).
• 0: Writes the current feed value to the positioning address.
• 1: Writes the current feed value to the arc address.
0, 1 User
+3 Positioning data number Sets the positioning data number at which to perform the
teaching.
1 to 600 User
Instruction symbol Target axis
GP.TEACH1, ZP.TEACH1 Axis 1
GP.TEACH2, ZP.TEACH2 Axis 2
GP.TEACH3, ZP.TEACH3 Axis 3
GP.TEACH4, ZP.TEACH4 Axis 4
• Completion device (d)
This device turns on during the END processing of the scan where the TEACH instruction completed, and turns off during the next END processing.
• Completion status indication device (d)+1
This device turns on or off depending on the completion status of the TEACH instruction.
When completed normally: Unchanged from off.
When completed with an error: Turns on during the END processing of the scan where the TEACH instruction completed, and turns off during the next END
processing (the same on/off operation as the completion device is performed).