Word N+1 Bit 10: Teaching Type Bit (Task 1) - Omron C200H-MC221 Operation Manual

Interface Bit Specifics
Signal

6-5-10 Word n+1 Bit 10: Teaching Type Bit (Task 1)

Signal
Timing Chart
Program Example
When this bit is turned ON, the current position is read in order as position data
then the axes that are being managed in the task and the teaching addresses
that are output to DM are incremented. Keep this bit ON until the Teaching Com-
pleted Flag goes ON.
Teaching can be performed in automatic or manual mode, even if a task error
has occurred.
The current value is read to position data storage area in the MC Unit when the
Teaching Bit goes from OFF to ON (up-differentiation).
Note Refer to the Teaching Type Bit (n+1 bit 10).
This bit determines which position is used when teaching is performed. There
are two positions that can be specified:
• Target Position:
The current position of the command
• Current Position (Feedback Value):
The actual current position produced from the encoder
Determine which position is appropriate for your application. The status of this
bit is referenced when the Teaching Bit goes from OFF to ON.
The Teaching Type Bits for task 2 (bit 10 in word n+3) operate in the same way.
The Teaching Type Bit settings have the following functions.
Signal
1 Specifies the current position (feedback value).
0 Specifies the target position.
Teaching Bit (n+1 bit 09)
Teaching Completed Flag
(n+11 bit 13)
Teaching Type Bit
(n+1 bit 10)
Teaching condition
R1 n+11 13
Teaching
Completed
Flag
n+1 09
Teaching Bit
Function
20 ms min. 20 ms min.
The current position is read
into DM in order at this point.
Fixed.
Teaching
Type condition
Section 6-5
Auxiliary
DIFU(13) R1
Area Bit
OUT
n+1
(Teaching
10
Type Bit)
OUT
n+1
(Teaching
09
Bit)
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