Omron CS1W-MC221 -, Operation Manual

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Interface Specifics Section 5-4
Teaching Completed Flags
The Teaching Completed Flag will turn ON when the teaching has been com-
pleted. Use this flag together with the Teaching Bit.
Timing Chart
Teaching Error Flags
The Teaching Error Flag will turn ON if a teaching error occurs. When an error
has occurred, the Teaching Completed Flag and Teaching Address Setting
Completed Flag will be turned ON at the same time.
For example, errors will occur in the following cases:
• Teaching Bit is turned ON, but the origin hasn’t been established.
• Teaching address isn’t between 0 and 1999 (0 to 7CF hex).
Set the teaching address if both the Teaching Error Flag and the Teaching
Address Overflow Flag turn ON at the same time.
Word Task Bit I/O Valid mode
MC221 MC421
n+15 n+23 Task 1 13 Input ---
n+19 n+27 Task 2
--- n+31 Task 3
--- n+35 Task 4
Signal Meaning
1 Teaching has been completed (even if an error has occurred).
↓
The Teaching Bit has turned OFF.
Teaching Bit
(n+3, 09)
Teaching Completed
Flag
(n+15, 13/n+23, 13)
Teaching Type Bit
(n+3, 10)
At this point the present values
are read into the MC Unit's
position memory.
Fixed
Word Task Bit I/O Valid mode
MC221 MC421
n+15 n+23 Task 1 14 Input ---
n+19 n+27 Task 2
--- n+31 Task 3
--- n+35 Task 4
Signal Meaning
1 A teaching error has occurred.
↓
The next teaching has been completed normally.