User guide

➄

Basic 6250 Features

The Teach Mode is simply a method of storing (teaching) variable data and later using the

stored data as a source for motion program parameters. The variable data can be any value that

can be stored in a numeric (VAR) variable (e.g., position, acceleration, velocity, etc). The

variable data is stored into a data program, which is an array of data elements that have a

specific address from which to write and read the variable data. Data programs do not contain

6000 Series commands.

The information below describes the principles of using the data program in a teach mode

application. Following that is a teach mode application example in which the joystick is used

to teach position data to be used in a motion program.

Teach Mode Basics

The basic process of using a data program for teach mode applications is as follows:

➀ Initialize a data program.

➁ Teach (store/write) variable data into the data program.

➂ Read the data elements from the data program into a motion program.

Initialize a

Data Program

This is accomplished with the DATSIZ command. The DATSIZ command syntax is

DATSIZi<,i>. The first integer (i) represents the number of the data program (1 - 9). You

can create up to 9 separate data programs. The data program is automatically given a specific

program name (DATPi). The second integer represents the total number of data elements (up

to 6,500) you want in the data program. Upon issuing the DATSIZ command, the data

program is created with all the data elements initialized with a value of zero.

The data program has a tabular structure, where the data elements are stored 4 to a line. Each

line of data elements is called a data statement. Each element is numbered in sequential order

from left to right (1 - 4) and top to bottom (1 - 4, 5 - 8, 9 - 12, etc.). You can use the TPROG

DATPi command ("i" represents the number of the data program) to display all the data

elements of the data program.

For example, if you issue the DATSIZ1,13 command, data program #1 (called DATP1) is

created with 13 data elements initialized to zero. The response to the TPROG DATP1 command

is depicted below. Each line (data statement) begins with DATA=, and each data element is

separated with a comma.

*DATA=Ø.Ø,Ø.Ø,Ø.Ø,Ø.Ø

*DATA=Ø.Ø

Each data statement, comprising four data elements, uses 39 bytes of memory. The memory for

each data statement is subtracted from the memory allocated for user programs (see MEMORY

command).