Mitsubishi Electric MELSEC-L LD75D, User Manual

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631
CHAPTER 14 DEDICATED INSTRUCTIONS
14
14.
5 Z
P
.T
E
A
CH1, Z
P
.T
E
A
CH2,
Z
P
.T
E
A
C
H3,
Z
P
.T
E
A
CH4
(4) Errors
(a) When a ZP.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.
Check and take measures against the error referring to

Page 650, Section 15.5.
(5) Precautions
(a) The following dedicated instructions cannot be executed simultaneously for the
same axis. (Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(b) The ZP.TEACH

instruction can only be executed when the BUSY signal (XC, XD,
XE, XF) is turned OFF. When the BUSY signal is turned ON, the ZP.TEACH 
instruction will not be executed. (not processed.) Before executing the ZP.TEACH 
instruction, make sure that the BUSY signal for the axis to be processed is turned
OFF.
(c) If the ZP.TEACH

instruction is executed in any of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and teaching cannot be
performed.
• Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of the control data.
• Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the control data.
• The instruction for a non-existent axis is specified. (Example: The ZP.TEACH2 instruction is specified when
the LD75P1 is used.)
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When completed
normally
Program
ZP.TEACH instruction
Complete device
Complete state display
device
END processing END processing END processing END processing
ZP.TEACH instruction
execution completion
1 scan