Mitsubishi Melsec-Q QD75D1, User Manual

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14 - 14
MELSEC-Q
14 DEDICATED INSTRUCTIONS
END
processing
END
processing
END
processing
END
processing
OFF
OFF
OFF
ON
ON
ON
When
completed
abnormally
When
completed normally
1 scan
ZP.TEACH instruction
execution completion
Sequence program
ZP.TEACH instruction
Complete device
Complete state display
device
[Errors]
(1) 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 a measure against the error referring to Section 15.3 "List of error
codes".
[Precautions]
(1) 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)
(2) 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.
(3) When the remote I/O station* (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (ZP.TEACH ) is unusable.
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).
(4) 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 QD75P1 is used.)