Omron CS1W-MC221 -, Operation Manual

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Interface Specifics Section 5-4
Teaching Type Bits
These bits are set to specify which position is used for teaching. There are
two positions that can be specified: Target Position and the Present Position.
• Target Position:
The present position of the command
• Present Position (Feedback Value):
The actual present position produced from the encoder
Determine which position is appropriate for your application. The status of this
bit is read when the Teaching Bit is turned ON.
Maintain the status of the Teaching Type Bit until the Teaching Completed
Flag turns ON.
Timing Chart
Programming Example
Word Task Bit I/O Valid mode
MC221 MC421
n+3 Task 1 10 Output Manual or Auto
n+5 Task 2
--- n+7 Task 3
--- n+9 Task 4
Signal Function
1 Specifies the present position (feedback value).
0 Specifies the target position.
Teaching Bit (n+3, 09)
Teaching Completed Flag
(n+15, 13/n+23, 13)
Teaching Type Bit
(n+3, 10)
The present positions are read
into memory at this point.
Fixed.
DIFU(13) R1
n+3
10
R1 n+15, 13/n+23, 13
Work Bit
OUT
(Teaching
Type Bit)
n+3, 09
Teaching Bit
Teaching condition
Teaching
Completed
Flag
OUT
(Teaching
Bit)
Teaching type
condition
n+3
09