Mitsubishi Electric MELSEC-L LD75P User Manual page 633

END processing END processing
Program
OFF
ZP.TEACH instruction
OFF
Complete device
OFF
Complete state display
device
(4) Errors
(a) When a ZP.TEACH instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
Check and take measures against the error referring to  Page 650, Section 15.5.
(5) Precautions
(a) The following dedicated instructions cannot be executed simultaneously for the
same axis. (Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(b) The ZP.TEACH instruction can only be executed when the BUSY signal (XC, XD,
XE, XF) is turned OFF. When the BUSY signal is turned ON, the ZP.TEACH
instruction will not be executed. (not processed.) Before executing the ZP.TEACH
instruction, make sure that the BUSY signal for the axis to be processed is turned
OFF.
(c) If the ZP.TEACH instruction is executed in any of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and teaching cannot be
performed.
• Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of the control data.
• Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the control data.
• The instruction for a non-existent axis is specified. (Example: The ZP.TEACH2 instruction is specified when
the LD75P1 is used.)
ZP.TEACH
ON
execution completion
CHAPTER 14 DEDICATED INSTRUCTIONS
END processing END processing
instruction
ON
ON
When completed
normally
1 scan
When
completed
abnormally
14
631