Teaching Function; Teaching Function; High−Speed Reading Of Designated Data; High-Speed Reading Of Designated Data - Mitsubishi Electric A173UHCPU Programming Manual

8. AUXILIARY AND APPLIED FUNCTIONS
8.8

Teaching Function

High− − − − Speed Reading of Designated Data
8.9
The teaching function allows the operator to teach the servo system CPU when the
target position (address) is unknown or to align with an object.
(1) Teaching methods
Two teaching methods are available: "address teaching" and "program
teaching."
(a) Address teaching
Writes the current value to the designated program address.
The program must be created before the address teaching method can be
used.
(b) Program teaching
Writes the current value to addresses while the program is being created.
(2) For details about teaching, see the A30TU-E Teaching Unit Operating Manual
(IB-67277).
This function stores the designated positioning data in the designated device (D,
W) with the signal from an input module mounted on the motion slot of the motion
base as the trigger.
It can be set in the system setting of a peripheral device software package.
(1) Positioning data that can be set
Set Data
Position command
(feed current value)
Real current value
Position droop
(deviation counter value)
M-codes
Torque limit value
Motor current
Motor rpm
Servo command value
Virtual servo motor feed
current value
Synchronous encoder current
value
Virtual servo M-code
Current value after main shaft
differential gear
Current value within one
revolution of cam axis
Executed cam No.
Executed stroke amount
Any address (fixed to 4 bytes)
(2) Modules and signals used
Input Module
A273EX
A172SENC
Sequencer input module
Number
of Words
-1
µm•10
2 10
-1
µm•10
2 10
2 PLS
1 -
1 %
1 %
2 r/min
2 PLS
2 PLS
2 PLS
1 -
2 PLS
2 PLS
1 -
-1 µm•10
2 10
2 -
Signal Reading Timing
TRA
TRA 0.8ms
X device
(Note): Only one PLC input module can be used.
8 − 16
Unit
-5
-5
inch•10 degree•PLS
-5
-5
inch•10 degree•PLS
Valid in SV22
virtual mode
only
-5
inch•PLS
Number of Points Settable
3
1
8
Remarks