196
8-4 Performing Teaching
Teaching can be performed once the teaching address has been set. When
teaching is performed, the X-axis’ current position of 30 is stored in position data
address A0100 and the Y-axis’ current position of 40 is stored in position data
address A0101.
The teaching address is then automatically incremented by 2, to 102. Since the
teaching address is incremented automatically, the position data can be stored
sequentially without resetting the teaching address.
Teaching address Position data
In the example above, teaching is performed three times at points 1, 2, and 3.
The X, Y current position data is stored and the teaching address is automati-
cally incremented to the next open position data address.
Turn ON the Teaching Bit for task 1 (n+1 bit 09) and keep this bit ON until the
Teaching Completed Flag (n+11 bit 13) is turned ON.
The timing chart and ladder program for this operation are shown below. Refer to
6-5 Interface Bit Specifics for more details.
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 value is
read into DM in order.
Fixed
Example Program
DIFU(13) R1
n+1
10
OUT
(Performs
teaching.)
OUT
(Sets the
teaching
type.)
R1
Teaching condition
Teaching Completed
Flag
n+11 13
Teaching type
condition
n+1 09
Teaching Bit
Auxiliary
Area Bit
n+1
09
Performing Teaching from
the Ladder Program
Performing Teaching
Section 8-4
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