Omron C200H-MC221 -, Operation Manual

Page: 163 / 305

143
When this bit is turned ON, the current position is read in order as position data
then the axes that are being managed in the task and the teaching addresses
that are output to DM are incremented. Keep this bit ON until the Teaching Com-
pleted Flag goes ON.
Teaching can be performed in automatic or manual mode, even if a task error
has occurred.
Signal The current value is read to position data storage area in the MC Unit when the
Teaching Bit goes from OFF to ON (up-differentiation).
Note Refer to the Teaching Type Bit (n+1 bit 10).
6-5-10 Word n+1 Bit 10: Teaching Type Bit (Task 1)
This bit determines which position is used when teaching is performed. There
are two positions that can be specified:
• Target Position:
The current position of the command
• Current Position (Feedback Value):
The actual current position produced from the encoder
Determine which position is appropriate for your application. The status of this
bit is referenced when the Teaching Bit goes from OFF to ON.
The Teaching Type Bits for task 2 (bit 10 in word n+3) operate in the same way.
Signal The Teaching Type Bit settings have the following functions.
Signal Function
1 Specifies the current position (feedback value).
0 Specifies the target position.
Timing Chart
Teaching Bit (n+1 bit 09)
Teaching Completed Flag
(n+11 bit 13)
Teaching Type Bit
(n+1 bit 10)
20 ms min. 20 ms min.
The current position is read
into DM in order at this point.
Fixed.
Program Example
DIFU(13) R1
n+1
10
R1 n+11 13
Auxiliary
Area Bit
OUT
(Teaching
Type Bit)
n+1 09
Teaching Bit
Teaching condition
Teaching
Completed
Flag
OUT
(Teaching
Bit)
Teaching
Type condition
n+1
09
Interface Bit Specifics
Section 6-5