Omron C200H-MC221 -, Operation Manual

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8-1 Introduction
After moving the axes to a desired position, that position can be read to position
data addresses as position data. This process is known as teaching.
Current position
Move
Teaching
Position Data Area
Teaching is performed separately in each task. When the teaching command is
executed, the current position data for all of the axes in the task (the axes
declared in the Unit Parameter Edit menu) will be read and stored in the speci-
fied data addresses in order (X and Y).
Position Format Teaching always reads the current position in the reference coordinate system.
The current position can be read in either of two formats.
• The target position
• The feedback value
Refer to 6-5 Interface Bit Specifics for more details on these formats.
Teaching Method Teaching can be performed in two ways.
• Teaching can be performed from the ladder program. Execute teaching
through the PC data area interface.
• Teaching can be performed from the Teaching Box.
8-2 The Teaching Function
This example describes the teaching function using task 1 with axes X and Y.
Teaching Address When performing teaching, it is necessary to specify the position data address
where the current position data will be stored. The teaching address is used to
specify this position data address. The teaching address is initialized to 0 when
the power is turned ON.
Current position
Teaching address
Position data
(X-axis’ current position)
(Y-axis’ current position)
In the diagram above, the teaching address is 100, which indicates position data
address A0100. Since the current position in task 1 is (30, 40), the X-axis’ current
position of 30 will be stored in position data address A0100 and the Y-axis’ cur-
rent position of 40 will be stored in position data address A0101.
The Teaching Function
Section 8-2