Omron CS1W-MCH71 Operation Manual page 592

Teaching
9-1-3 Teaching Execution
Teaching Type
9-1-4 Teaching Status
Teaching Warning
Teaching Condition
Setting Completed
Teaching Execution
Completed
• The bit [Teaching Type] will be read when the bit [Teaching Execution] is
turned ON, and the present values will be written into the position data
under the conditions specified in the [Teaching Condition Setting].
• When the present position is written successfully, the bit [Teaching Execu-
tion Completed] will be turned ON, which turns OFF the bit [Teaching Exe-
cution]. After that, the bit [Teaching Execution Completed] will be turned
OFF.
• In order to check whether teaching was completed normally or not,
observe the bit [Teaching Warning] when the bit [Teaching Condition Set-
ting Completed] is turned ON.
• It is possible to turn ON the bits [Teaching Condition Setting] and [Teach-
ing Execution] simultaneously to execute them together. However, if an
error occurs, it will not be possible to know in which operation the error
occurred. Therefore, condition setting and execution should be executed
separately.
Either the feedback present position or command present position can be
specified for the teaching present value.
The bit [Teaching Warning] indicates the error status of the bits [Teaching
Condition Setting] and [Teaching Execution]. The bit [Teaching Warning] is
turned ON simultaneously with the bits [Teaching Condition Setting] and
[Teaching Execution Completed] under the following conditions:
When Setting Teaching Condition:
• The teaching axes are not set. ([Teaching Axis Setting 1-16] = [Teaching
Axis Setting 17-32] = 0)
• There are unallocated axes among the axes being specified in the bits
[Teaching Axis Setting 1-16] and [Teaching Axis Setting 17-32].
• The address specified in [Teaching Address] is outside of the position
data addresses.
• Adding the number of axes that have been specified in the bits [Teaching
Axis Setting 1-16] and [Teaching Axis Setting 17-32] to the address spec-
ified in [Teaching Address] exceeds the position data address range.
When Executing Teaching:
• The bit [Teaching Execution] is turned ON when the teaching condition
has not been set.
• For any of the axes specified in the bits [Teaching Axis Setting 1-16] and
[Teaching Axis Setting 17-32], The bit [Command Disabled/Enabled] is
OFF, or the bit [No Origin] is ON.
• Adding the number of teaching axes to the address indicated in [Teaching
Address Monitor] exceeds the position data address range.
• The bit [Teaching Condition Setting Completed] indicates completion of
teaching condition setting regardless of normal or error completion.
• It will be turned OFF when the bit [Teaching Condition Setting] is turned
OFF.
• The bit [Teaching Execution Completed] indicates completion of teaching
execution regardless of normal or error completion.
Section 9-1
547