Mitsubishi Electric RD77MS16, User Manual

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8 CONTROL SUB FUNCTIONS
8.9 Other Functions
285
8
Teaching function
The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual
pulse generator operation) in the positioning data addresses ("[Da.6] Positioning address/movement amount", "[Da.7] Arc
address").
Control details
■
Teaching timing
Teaching is executed using the program when the BUSY signal [X10 to X1F] is OFF. (During manual control, teaching can be
carried out as long as the axis is not BUSY, even when an error or warning has occurred.)
■
Addresses for which teaching is possible
The addresses for which teaching is possible are "current feed values" ([Md.20] Current feed value) having the home position
as a reference. The settings of the "movement amount" used in incremental system positioning cannot be used. In the
teaching function, these "current feed values" are set in the "[Da.6] Positioning address/movement amount" or "[Da.7] Arc
address".
Precautions during control
• Before teaching, a "machine home position return" must be carried out to establish the home position. (When a current
value changing, etc., is carried out, "[Md.20] Current feed value" may not show absolute addresses having the home
position as a reference.)
• Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which
the workpiece cannot physically move). (During center point designation circular interpolation control, etc., teaching of
"[Da.7] Arc address" cannot be carried out if the center point of the arc is not within the moveable range of the workpiece.)
• Writing to the flash ROM can be executed up to 100,000 times. If writing to the flash ROM exceeds 100,000 times, the
writing may become impossible (assured value is up to 100,000 times). If the error "Flash ROM write number error" (error
code: 1080H) occurs when writing to the flash ROM has been completed, check whether or not the program is created so
as to write continuously to the flash ROM.
Data used in teaching
The following control data is used in teaching.
n: Axis No. - 1
Refer to the following for the setting details.

Page 504 Control Data
Setting item Setting
value Setting details Buffer memory address
[Cd.1] Flash ROM write request 1 Write the set details to the flash ROM (backup the
changed data).
5900
[Cd.38] Teaching data selection

Sets to which "current feed value" is written.
0: Written to "[Da.6] Positioning address/movement
amount".
1: Written to "[Da.7] Arc address".
4348+100n
[Cd.39] Teaching positioning data No.

Designates the data to be taught.
(Teaching is carried out when the setting value is 1 to
600.)
When teaching has been completed, this data is zero
cleared.
4349+100n
Positions aligned by
manual control
Positioning data
"Current feed value" A
→
[Da.6] Positioning address/movement amount
"Current feed value" B
→
[Da.7] Arc address