LSIS XBF-PN04B, User Manual, Page: 609 / 820

Chapter 9 Functions
9-176
9.7 Data Modification Function
This function is for changing operation data and operation parameter of positioning module.
9.7.1 Teaching Array
User may change the operating speed and the goal position of the step user designated with teaching
command but without XG-PM.
(1) Characteristics of Control
(a) This command is for changing operating speed or the goal position on several steps.
(b) User may change maximum 16 data.
(c) RAM teaching and ROM teaching are available depending on the saving position.
■ RAM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value but the speed value and position value are not
saved in non-power connection.
■ ROM teaching
When executing teaching to operation data of positioning module and operating positioning module in power
connection, user may change speed value or position value and operation data is saved permanently by
saving operation data to MRAM(non-volatility memory) even in non-power connection.
(d) The value of goal position being changed is position teaching, the value of operating speed being changed is
speed teaching.
(e) The axis in operation may be the subject of position teaching or speed teaching.
(f) If user changes the value of goal position or operating speed frequently, this command is very useful for it.
(g) Auxiliary data setting of teaching array command
Items Setting value Description
Step 0 ~ 400 Set the step no. for teaching
Position
0 : RAM teaching
1 : ROM teaching
Set the method of teaching
Data
0 : Position
1 : Speed
Set the data items for teaching
The No. 1 ~ 16 Set the number of operating step
(h) Even though teaching can be performed even when the axis subject to teaching is being operated but, only
the current step‟s data is reflected after the current step operation is completed if the step that is currently
running is within the step area while other steps‟ data are immediately changed.
Remark
The teaching data must be set in the data setting area for teaching array before teaching array
command is executed. Refer to the teaching array command XTWR.
(2) Restrictions
Teaching array command may not be executed in the case as follows.
(a) The number of teaching array is out of the range (1~16). (Error code: 462)
(b) Teaching step no. is out of the range (1~400). (Error code: 465)
Total number(Teaching step no. + number of Teaching) must be below 400.