Teaching Function - Mitsubishi Electric MELSEC-L LD75P User Manual

12.7.4

Teaching function

The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation,
and manual pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement
amount", "[Da.7] Arc address").
The details shown below explain about the "teaching function".
• Control details
• Control precautions
• Data used in teaching
• Teaching procedure
• Teaching program example
(1) Control details
(a) Teaching timing
Teaching is executed using the program when the BUSY signal [XC, XD, XE, XF] 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.)
(b) Addresses for which teaching is possible
The addresses for which teaching is possible are "current feed values" ([Md.20] Current feed value) having the
OP as a reference. The settings of the "movement amount" used in incremental system positioning cannot be
used. In the teaching function, these "current feed values" are set in the "[Da.6] Positioning address/movement
amount" or "[Da.7] Arc address".
Positions aligned by manual control
"Current feed value" A
"Current feed value" B
(c) Dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH 3, ZP.TEACH 4,
ZP.PFWRT"
When the dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH 3, ZP.TEACH 4, ZP.PFWRT" are
used to execute the teaching function, the programming becomes easier. Refer to  Page 619, CHAPTER
14 for details.
(2) Control precautions
• Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing,
etc., is carried out, "[Md.20] Current feed value" may not show absolute addresses having the OP 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 center point designation circular
interpolation control, 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: 805) 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.
586
Positioning data

[Da.6] Positioning address/movement amount

[Da.7] Arc address