Omron CS1W-MC221 -, Operation Manual

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Performing Teaching Section 10-3
The teaching address is then automatically incremented by 2, to 102.
Because the teaching address is incremented automatically, position data can
be stored sequentially without resetting the teaching address.
In the example, teaching is performed three times at points 1, 2, and 3. The X,
Y present position data is stored and the teaching address is automatically
incremented to the next open position data address.
10-3-1 Performing Teaching from the Ladder Program
In the following example, teaching is performed from the ladder program for
task 1 in the CS1W-MC221. Turn ON the Teaching Bit for task 1 (n+3, bit 09)
and keep this bit ON until the Teaching Completed Flag (n+15, bit 13) turns
ON.
The timing chart and ladder program for this operation are shown below.
Timing Chart
Example Program
Refer to 5-4 Interface Specifics for details.
(1)
(2)
(3)
(1)
(2)
(3)
Teaching address
Position data
100
102
104
Teaching Bit
(n+3, 09)
Teaching Completed Flag
(n+15, 13)
Teaching Type Bit
(n+3, 10)
At this point, the present value is
read into DM.
Fixed
DIFU(13) W00004
n+3
10
OUT
(Performs
teaching.)
OUT
(Sets the
teaching
type.)
W00004
Teaching condition
Teaching Completed
Flag
n+15 13
Teaching type
condition
n+3 09
Teaching Bit
Work Bit
n+3
09