Omron CS1W-MC221 -, Operation Manual

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Introduction Section 10-1
10-1 Introduction
After moving the axes to a desired position, that position can be read to posi-
tion data addresses as position data. This process is known as teaching. The
position data address is called the teaching address.
Teaching is performed separately for each task.
When the teaching command is executed, the present 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 specified teaching addresses in order (X axis first,
then Y axis).
Position Format Teaching always reads the present position in the reference coordinate sys-
tem. The present position can be read in either of two formats. Refer to
page 278
Types of Teaching for more details on these formats.
• The target position (reference present position)
• The feedback value (actual present position calculated from the encoder)
Teaching Method Teaching can be performed in the following two ways:
• From the PLC Interface Area using instructions in the ladder program
• From the Teaching Box
10-1-1 Teaching Addresses
When performing teaching, it is necessary to specify the position data
address where the present position data will be stored. The teaching address
is used to specify this position data address. Teaching addresses are initial-
ized to zero when the power is turned ON or the MC Unit is restarted.
Set the teaching address in the command area when executing teaching from
a ladder program (IOWR instruction), and in the Teaching Box when executing
teaching from the Teaching Box.
10-2 Setting the Teaching Address
To perform teaching, the teaching address must be set to between A0000 and
A1999. The following example shows how to set the teaching address. The
teaching address is set in a memory control parameter in the system parame-
ters.
Set the teaching address in the command area when executing teaching from
the ladder program (IOWR instruction) and in the Teaching Box when execut-
ing teaching from the Teaching Box.
Refer to 3-6 Command Area for details on the command area.
Teaching addresses
Present position
Move
Teaching
Position Data Area