Omron CS1W-213 - REV 02-2008, Operation Manual

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Teaching Section 9-2
9-2 Teaching
This section describes the teaching operation and the data needed for per-
forming it.
9-2-1 Outline of Operation
The present position is taken as the designated position number (teaching
address). The position data is taken in when TEACH is turned ON.
Note Before executing TEACH, first establish the origin. If the origin is not first
established, a present position unknown error (error code 5040) will be gener-
ated.
When TEACH is executed, values will be written in the position data area in
the internal memory of the PCU. Since this data will be erased when the
power is turned OFF or when the PCU is restarted, perform data saving oper-
ation to preserve the data. Refer to
5-6 Saving Data .
!Caution When positioning to a position determined using the teaching function, set the
position designation setting in the positioning sequence to absolute position-
ing. If it is set to relative positioning, positioning will be performed to a position
other than the one obtained with the teaching function.
9-2-2 Procedure for Teaching
1,2,3... 1. Set the operating data area using the parameters.
2. Move the axis to the teaching position (e.g., using JOG).
3. Set the teaching address in the operating data area.
4. Stop the axis, and then turn the TEACH Bit from OFF to ON.
9-2-3 Beginning Words of Operating Memory Area, Operating Data
Area, and Parameter Areas
The beginning words of the operating memory area, operating data area, and
common parameter area used for a Position Control Unit (PCU) are deter-
mined (or set) according to the following.
• Beginning word of the operating memory area, n = CIO 2000 + 10
×
unit
number
• Beginning word of the common parameter area, m = 100
×
unit
number
• Beginning word of the operating data area, l, is specified in m and m+1.
Origin
Present position
Address Position data
Position #2 (rightmost)
Position #2 (leftmost)
Example of present position
being taken as position #2
for a 1-axis PCU
11F8 Hex
11F9 Hex