Teaching Function - Mitsubishi Electric MELSEC iQ-R Series User Manual

Teaching function

The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual
pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc
address").
Control details
■Teaching timing
Teaching is executed using the program when the BUSY signal is OFF. (During manual control, teaching can be carried out as
long as the axis is not BUSY, even when an error or warning has occurred.)
■Addresses for which teaching is possible
The addresses for which teaching is possible are "feed current values" ([Md.20] Feed current value) having the home position
as a reference. The settings of the "movement amount" used in incremental system positioning cannot be used. In the
teaching function, these "feed current values" are set in "[Da.6] Positioning address/movement amount" or "[Da.7] Arc
address".
Positions aligned by manual control
"Feed current value" A
"Feed current value" B
Precautions during control
• Before teaching, a "machine home position return" must be carried out to establish the home position. (When a current
value changing, etc., is carried out, "[Md.20] Feed current value" may not show absolute addresses having the home
position as a reference.)
• Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which
the workpiece cannot physically move). (During 2-axis circular interpolation control with center point designation, etc.,
teaching of "[Da.7] Arc address" cannot be carried out if the center point of the arc is not within the moveable range of the
workpiece.)
• Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the
writing may become impossible (assured value is up to 100,000 times). If the error "Flash ROM write number error" (error
code: 1080H) occurs when writing to the flash ROM has been completed, check whether or not the program is created so
as to write continuously to the flash ROM.
Data used in teaching
The following control data is used in teaching.
n: Axis No. - 1
Setting item
[Cd.1] Flash ROM write request
[Cd.38] Teaching data selection
[Cd.39] Teaching positioning data No.
Refer to the following for the setting details.
Page 512 Control Data
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
[Da.6] Positioning address/movement amount

[Da.7] Arc address
Setting
value
1


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Positioning data
Setting details
Write the set details to the flash ROM (backup the
changed data).
Sets to which "feed current value" is written.
0: Written to "[Da.6] Positioning address/movement
amount".
1: Written to "[Da.7] Arc address".
Designates the data to be taught.
(Teaching is carried out when the setting value is 1 to
600.)
When teaching has been completed, this data is zero
cleared.
Buffer memory address
Axis 1 to axis 16
5900
4348+100n
4349+100n
8 CONTROL SUB FUNCTIONS
8.8 Other Functions
8
291