Mitsubishi Melsec-Q QD75D1, User Manual

Page: 582 / 858

12 - 84
MELSEC-Q
12 CONTROL SUB FUNCTIONS
12.7.4 Teaching function
The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, inching operation, and manual pulse generator operation) in the
positioning data addresses ("
Da.6 Positioning address/movement amount", " Da.7
Arc address").
The details shown below explain about the "teaching function".
[1] Control details
[2] Control precautions
[3] Data used in teaching
[4] Teaching procedure
[5] Teaching program example
[1] Control details
(1) Teaching timing
Teaching is executed using the sequence program when the BUSY signal
(XC, XD, XE, XF) 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.)
(2) Addresses for which teaching is possible
The addresses for which teaching is possible are "current feed values"
(
Md.20
Current feed value) having the OP 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".
Positioning data
Positions aligned by manual
control
"Current feed value" A
Da.6 Positioning address/movement
amount
"Current feed value" B
Da.7 Arc address
(3) Dedicated instructions "ZP.TEACH 1, ZP.TEACH 2,
ZP.TEACH 3, ZP.TEACH 4, ZP.PFWRT"
When the dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH
3, ZP.TEACH 4, ZP.PFWRT" are used to execute the teaching function, the
programming becomes easier. Refer to CHAPTER 14 "DEDICATED
INSTRUCTIONS" for details.