Specifications

App - 22
Errors
(1) When the TEACH
instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
Precautions
(1) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(They can be executed simultaneously for different axes.)
• Positioning start instructions (PSTRT1 to PSTRT4)
• Absolute position restoration instructions (ABRST1 to ABRST4)
• Teaching instructions (TEACH1 to TEACH4)
(2) The TEACH
instruction can be executed when the BUSY signal (XC, XD, XE,
XF) is turned OFF.
When the BUSY signal is turned ON, the TEACH
instruction will not be
executed. (Not processed.)
Before executing the PFWRT instruction, make sure that the BUSY signal for the
axis to be processed is turned OFF.
Program example
(1) Write a sequence program where the teaching is executed to the positioning data
No. 3 of the axis 1 when X39 is turned ON.
No.20 Teaching program
Positioned manually to target position
Teaching
command
X39
M19 X0C
Teaching
command
pulse
Busy
signal
Teaching
command
storage
M20
M34
M35
Complete
device
Abnormal
complete
device
Teaching command pulsed
Teaching command hold
Teaching data setting
Positioning data No. setting
Teaching execution
Teaching command storage OFF
Teaching
command
pulse
Teaching
command
storage
Teaching
data
Positioning
data No.
Control
data for
TEACH 1
instruction
Complete
device
Teaching
command
pulse