Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 412

Interface Specifics
Function
Command and Operation
• To use the actual positions on an application in motion programs as posi-
tion data, the present positions are stored in position data.
• Generally, there are following 2 operations:
• Teaching Condition Setting:
The axis and address of teaching object will be specified when the bit
[Teaching Condition Setting] is turned ON.
• Teaching Execution:
The present position will be stored in position data when the bit [Teach-
ing Execution] is turned ON.
Name
Teaching Condition 0: Nil
Setting
1: Nil
↑: Specifies the Teaching axis, reads the Teaching address.
↓: Nil
Teaching Type 0: Feedback present position
1: Command present position
↑: Nil
↓: Nil
Teaching Execution 0:Nil
1:Nil
↑: Writes present position specified with Teaching type into
position data
↓: Nil
Teaching Axis Set- 0: Nil
ting
1: Specifies the axis as a teaching axis
1-16
↑: Nil
↓: Nil
Teaching Axis Set- 0: Nil
ting
1: Specifies the axis as a teaching axis
17-32
↑: Nil
↓: Nil
Teaching Address Specifies the teaching start address
0-10239
• [Teaching Axis Setting 1-16], [Teaching Axis Setting 17-32], and [Teaching
Address] will be read when the bit [Teaching Condition Setting] is turned
ON, and then, teaching will be ready to be started.
• When the bit [Teaching Execution] is turned ON, the data specified with
[Teaching Type] of the axes specified with the bits [Teaching Axis Setting
1-16] and [Teaching Axis Setting 17-32] will be stored in position data.
• The bit [Teaching Type] will be referenced when the bit [Teaching Execu-
tion] is turned ON and it cannot be changed during execution of teaching.
• If [Teaching Condition Setting] is omitted after teaching execution, the
address of teaching object will be incremented for the number of axes
specified with the bits [Teaching Axis Setting 1-16] and [Teaching Axis
Setting 17-32].
• Condition setting and execution can be performed simultaneously by turn-
ing ON the bits [Teaching Condition Setting] and [Teaching Execution]
simultaneously. However, when an error occurred, there is no way to know
which operation caused the error. Therefore, it is not recommended.
Section 7-4
Specifications
389