15- 9
Chapter 15 Dedicated Instructions
END
processing
END
processing
END
processing
END
processing
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When
completed normally
1 scan
Sequence program
ZP.TEACH instruction
Complete device
Complete state display
device
ZP.TEACH instruction
execution completion
[Errors]
(1) When a ZP.TEACH instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
(S)+1.
Check and take a measure against the error referring to Section 16.5 "List of
errors".
[Precautions]
(1) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(2) The ZP.TEACH
instruction can only be executed when the BUSY signal is
turned OFF.
When the BUSY signal is turned ON, the ZP.TEACH
instruction will not be
executed. (not processed.)
Before executing the ZP.TEACH
instruction, make sure that the BUSY signal for
the axis to be processed is turned OFF.
(3) If the ZP.TEACH
instruction is executed in any of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and teaching cannot be
performed.
• Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of
the control data.
• Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the
control data.
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