Mitsubishi Electric MELSEC iQ-R RD75P4, Руководство пользователя

Страница: 286 / 598

284
7 CONTROL SUB FUNCTIONS
7.9 Other Functions
Teaching function
Teaching function is used to set the address where the target is positioned using the manual control operation (JOG
operation, inching operation, or manual pulse generator operation) in the positioning addresses ([Da.6] Positioning address/
movement amount, [Da.7] Arc address).
Control details
■
Teaching timing
Teaching is executed using a program while BUSY signal [XC, XD, XE, XF] is off. (During a manual control operation,
teaching can be performed even when an error or a warning occurs as long as the axis is not in the BUSY state.)
■
Addresses for which teaching is possible
The target address for teaching is the current feed value ([Md.20] Current feed value) having the OP as a reference. The
movement amount for positioning in the incremental system cannot be set. The teaching function sets the current feed value
in [Da.6] Positioning address/movement amount or [Da.7] Arc address.
■
Dedicated instruction GP.TEACH 
If the dedicated instruction GP.TEACH  , provided for the execution of the teaching function, is used, a program can be easily
created. For details on the dedicated instructions, refer to the following.

MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)
Control precautions
• Before performing the teaching, Machine OPR must be performed to establish the OP. (When the current value change is
performed, [Md.20] Current feed value may not show the absolute address having the OP as a reference.)
• Teaching cannot be performed for positions that cannot be targeted using the manual control (positions to which the
workpiece cannot physically move). (During the operation that refers to a center point outside the moveable range such as
the circular interpolation control operation with a center point specified, teaching cannot be performed for [Da.7] Arc
address.)
• If an axis in the BUSY state, the teaching cannot be performed to the axis.
• Written positioning data is stored in the buffer memory. Data in the buffer memory is cleared when the CPU module is
powered off or reset. For this reason, it is recommended to register positioning data in the module extension parameter file
of the CPU module or the RD75 by performing the module data backup when the positioning operation is normally
completed.
• The number of module data backups using a program after the power is turned on once or the CPU module is reset is
limited to up to 25 times (including the number of module data initializations). If the writing operation is executed 26th times,
Flash ROM write number error (Error code: 1080H) will occur. If this error occurs, reset the error, power off and on the
module again, or reset the CPU module.
• Writing to the flash ROM of the RD75 can be executed up to 100000 times. If the number of writing to the flash ROM
exceeds 100000 times, writing data to the flash ROM may become impossible and Flash ROM write error (Error code:
1931H) will occur.