Mitsubishi Electric MELSEC iQ-R Series Programming Manual page 1776

• The following figure shows the operation at completion of the TEACH instruction.
Sequence scan
TEACH instruction
Completion device (d)
Completion status
indication device (d)+1
Precautions
• For a single axis, any of the following instructions cannot be executed concurrently with a G.ABRST instruction. although
different axes, any of the following can be executed concurrently with a GP.TEACH instruction.
• Positioning start instruction (PSTRT)
• Absolute position restoration instruction (ABRST)
• Teaching instruction (TEACH)
• The TEACH instruction is executed when the BUSY signal [XC, XD, XE, or XF] is off. While the BUSY signal [XC, XD,
XE, XF] is on, the instruction cannot be executed. (No processing is performed.) Before executing the instruction, check
that the BUSY signal [XC, XD, XE, XF] of the corresponding axis is off.
Operation error
Error code Description
((s)+1)
1863H A value other than 0 or 1 was set in "Teaching data selection" of (s)+2.
1864H A value other than 1 to 600 was set in "Positioning data number" of (s)+3
1865H An instruction was specified for an undefined axis (e.g. the GP.TEACH3 instruction was specified when RD75P2 is used).
22 POSITIONING INSTRUCTIONS
1774
22.3 Teaching
0 END 0
Execution of
the instruction
OFF
OFF
END 0 END 0
Completion of the instruction
ON
ON
END 0
OFF
Completed with an error
OFF
Completed
successfully
1 scan
END