Teaching - Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual

Teaching

9-1 Teaching
9-1-1 Introduction
9-1-2 Teaching Condition Setting
Teaching Axis Setting
Teaching Address
504
This section describes the teaching method using the PC Interface Area.
• After moving the axis to a desired position, the present position can be
written into the words for position data. This process is called teaching.
The address to which the present position is written is called teaching
address.
• Teaching is performed for the entire unit. The axis on which teaching is
executed can be specified in "Teaching axis setting".
• When the teaching command is executed, the present position of the
specified axes will be stored in the words of the teaching address speci-
fied with position data in ascending order of Axis No.
• In Teaching, the present position on the reference coordinate system is
always read. Either of the following two formats of the present position
can be specified.
• The target position (present position of the command)
• The feedback value (actual present position calculated with the encod-
er feedback value)
• To execute teaching, the bit [Command Disabled/Enabled] has to be ON
(Command Enabled) and the bit [No Origin] has to be OFF (Origin is
defined).
• The teaching axes and teaching addresses are determined when the bit
[Teaching Condition Setting] is turned ON.
• When the condition setting is completed, the bit [Teaching Condition Set-
ting Completed] will be turned ON, which turns OFF the bit [Teaching
Condition Setting]. After that, the bit [Teaching Condition Setting Com-
pleted] will be turned OFF.
• In order to check whether teaching was completed normally or not,
observe the bit [Teaching Warning] when the bit [Teaching Condition Set-
ting Completed] is turned ON.
When executing teaching, the present position of which axis is to be read has
to be specified. It can be specified with Teaching axis setting. Teaching axis
setting 1-16 is for Axes 1 to 16 and Teaching axis setting 17-32 is for Axes 17
to 32. To make an axis a teaching object, turn ON (1) the bit corresponding to
the Axis No.
Teaching address specifies the address of position data in which the present
position of axes is to be stored. Having the specified address as the beginning
word, the present positions will be written into the words of position data in
ascending order of Axis No. If Teaching condition setting is not executed after
teaching execution, the teaching address will be automatically incremented
for the number of axes that have been specified in the bits [Teaching Axis Set-
ting 1-16], [Teaching Axis Setting 17-32]. If the incremented teaching
addresses exceed 10239 (27FFh), the address will go back down to zero.
Section 9-1