Mitsubishi MELSEC-L series Programming Manual page 287

Program Example
The following program performs teaching for the positioning data number 3 of the axis 1 when
X39 turns ON.
[Structured ladder]
[ST]
PLS(X39, Var_Flag_Inst);
IF((Var_Flag_Inst=TRUE)&(X0C=FALSE))THEN
SET(TRUE, Var_Flag_Mem);
END_IF;
IF(Var_Flag_Mem=TRUE)THEN
MOVP(TRUE, H0, Var_ControlData[2]);
MOVP(TRUE, K3, Var_ControlData[3]);
ZP_TEACH1(TRUE, "00", Var_ControlData, Var_Result);
IF((Var_Result[0]=TRUE)&(Var_Result[1]=FALSE))THEN
RST(TRUE, Var_Flag_Mem);
END_IF;
END_IF;
(* Teaching instruction pulse *)
(* Turns teaching instruction memory ON *)
(* Teaching instruction memory ON *)
(* Sets teaching data *)
(* Sets positioning data number *)
(* Performs teaching *)
(* Turns teaching instruction memory OFF *)
5.5 Positioning Instruction
5.5.3 TEACH instruction
ZP_TEACH1
Teaching instruction
pulse
Turns teaching
instruction memory ON
Sets teaching data
Sets positioning
data number
Performs teaching
Turns teaching
instruction memory OFF
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