Teaching - Mitsubishi Electric MELSEC iQ-R Series Programming Manual

22.3

Teaching

GP.TEACH, ZP.TEACH
RnPCPU
RnCPU RnENCPU
(Process)
These instructions perform teaching for the specified axis.
Ladder
(U)
FBD/LD
EN ENO
U d
s
■Execution condition
Instruction
GP.TEACH1
GP.TEACH2
GP.TEACH3
GP.TEACH4
ZP.TEACH1
ZP.TEACH2
ZP.TEACH3
ZP.TEACH4
Setting data
■Description, range, data type
Operand Description
(U) GP.TEACH Start I/O number (first three digits in four-digit
hexadecimal representation) of a module
ZP.TEACH Start I/O number (first three digits in four-digit
hexadecimal representation) of a module
(s) Start device where the control data is stored
(d) Device to be turned on one scan upon completion of
instruction
If the instruction is completed with an error, (d)+1 is
also turned on.
EN Execution condition
ENO Execution result
*1 When specifying setting data by using a label, define an array to secure enough operation area and specify an element of the array
label.
22 POSITIONING INSTRUCTIONS
1772
22.3 Teaching
RnPCPU RnSFCPU RnSFCPU
(Redundant) (Standard) (Safety)
(s) (d)
Execution condition
ST
ENO:=GP_TEACH1(EN,U,s,d);
ENO:=GP_TEACH2(EN,U,s,d);
ENO:=GP_TEACH3(EN,U,s,d);
ENO:=GP_TEACH4(EN,U,s,d);
ENO:=ZP_TEACH1(EN,U,s,d);
ENO:=ZP_TEACH2(EN,U,s,d);
ENO:=ZP_TEACH3(EN,U,s,d);
ENO:=ZP_TEACH4(EN,U,s,d);
Range Data type
00H to FEH 16-bit unsigned binary
00H to FEH String
Refer to the control data. Device name

Bit

Bit

Bit
Data type (label)
ANY16
ANY16_OR_STRING_S
INGLE
*1
ANY16
ANYBIT_ARRAY
(Number of elements: 2)
BOOL
BOOL