Installation manual

Chapter 6 Programming
6-76
（５）Teach Data Control
Plural teach data is controlled by “teach data control list” as follows:
If there is no next list, “0” is set.
Teach data numbers, able to be controlled by teach data control list, are not particularly
defined. As far as memory space allows, plural teach data can be created.
List control data:
DATA DETAILS
Numbers of teach data Indicates how many teach data (not teach point) is controlled
Active teach data (ARM 0) Teach data related to ARM 0 motion.
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Active teach data (ARM 1) Teach data related to ARM 1 motion.
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In active teach data, the same teach data can be obtained by ARM 0 and ARM 1.
Teach data control data:
DATA DETAILS
Teach data “Key” The control number for teach data manages not to let
each teach data overlap.
Numbers of teach data Numbers of teach point retained by this teach data.
Top teach point Teach point indicating the top position in the teach data.
Last teach point Teach point indicating the last position in the teach data.
Current teach point Teach point indicated currently by the program in the
teach data.
Temporary teach point Supplemental area used for teach data research, etc.
JUMP data control address It is the top in JUMP data list and is incidental to teach
data.
To control each teach data, it is needed to have some information to not let each teach
data overlap. This non-overlap data is called “teach data Key.” Teach data “Key” is
32 bit integer. But, for practical use, only a positive value can be used.
List control data
List top address
Teach data control data
Next list address
Teach data control data
Next list address
Teach data control data
Next list address