169
Timing Chart
Teaching Bit
(n+1 bit 09)
Teaching
Completed
Flag
(n+11 bit 13)
Teaching Type Bit
(n+1 bit 10)
At this point the present values
are read into the MC Unit’s
position data memory in order.
Fixed
6-5-52 Word n+11 Bit 14: Teaching Error Flag (Task 1)
This flag is turned ON when a teaching error occurs. When an error has
occurred, the Teaching Completed Flag and Teaching Address Setting Com-
pleted Flag will be turned ON at the same time.
For example, errors will occur in the following cases:
• Teaching Bit is turned ON, but the origin isn’t fixed.
• Teaching address isn’t within the acceptable range (0 to 1999).
The Teaching Error Flags for task 2 (bit 14 in words n+13) operate in the same
way.
Signal The Teaching Error Flag settings have the following meanings.
Signal Meaning
↑ (OFF-to-ON) Goes ON when a teaching error occurs.
↓ (ON-to-OFF) Goes OFF the next time that teaching is completed normally or
teaching address setting is completed normally.
Timing Chart
Teaching Bit
(n+1 bit 09)
Teaching Completed Flag
(n+11 bit 13)
Teaching Error Flag
(n+11 bit 14)
Teaching Address
Set Bit (n+1 bit 08)
Teaching Address Set-
ting Completed Flag
(n+11 bit 12)
Error occurs. Reset
20 ms min. 20 ms min.
20 ms min. 20 ms min.
6-5-53 Word n+11 Bit 15: Teaching Address Over Flag (Task 1)
This flag is turned ON when the Teaching Bit is turned ON, but the position data
address set in the Memory Parameter Edit menu (a submenu of the Edit MC
Parameters menu) isn’t within the acceptable range. The Teaching Completed
Flag will be turned ON at the same time.
The Teaching Address Over Flags for task 2 (bit 15 in word n+13) operate in the
same way.
Interface Bit Specifics
Section 6-5
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