TEACH1 & TEACH2

Instruction Parameters

Supported PLC Series

PLC-AES	PLC-FB	PLC-ES
✓	✓	✓

Supported Positioning Modules

PLC Series
PLC-ES0808P
PLC-ES1616P
MOD-SPOS02

Supported Data Registers

	M	X	Y	K	L	F	T	C	S	Z	R	Q	D	@D	Constant
Base/Slot	✓	✓	✓	✓	✓	✓	✓	✓	–	✓	–	✓	✓	✓	✓
S	✓	✓	✓	✓	✓	–	–	–	–	✓	–	✓	✓	✓	✓
D	✓	–	✓	✓	✓	–	–	–	–	✓	–	✓	✓	✓	–

Supported Flags

Flag	Bit	Support
Error	F11.0	✓
Zero	F11.1	–
Carry	F11.2	–

Number of Steps

Steps
4

Operands

Operand	Description
Base/Slot	The first operand. Entries are *Hexadecimal* data registers or constants. This is the base and slot number where the positioning module is located. This location depends on the amount of expansion modules the chassis contains. If the CPU supports positioning, refer below.
S	The second operand. Entries are *WORD* data registers or constants. This is where the control data is stored. The value range is 0 ~ 2.
D	The third operand. Entries are only *WORD* data registers. This is where the result of the operation status is stored.

Assignment Example

The following example shows how to assign values to Base/Slot.

Module/Slot (PLC-AES/ES)

Module	Slot	Example
CPU	Slot 0	H0000 or 0
1^st Expansion	Slot 1	H0001 or 1
5^th Expansion	Slot 5	H0005 or 5
10^th Expansion	Slot 10	H000A
15^th Expansion	Slot 15	H000F

PLC-AES/ES CPU

If the CPU module is a PLC-AES/ES CPU, assign H0000 to Base/Slot.

S

Data Register	Description
S	Select the data type to teach (0 ~ 2) and the positioning data number (1 ~ 600) Refer to this* table*
S+1 S+2	Positioning data to teach Target Address: -2,147,483,648 ~ -2,147,483,648 (2³²) Operation Speed: PLC-ES – PLC-ES: 100,000pps (pulses per second) Circular Interpolation Address: -2,147,483,648 ~ -2,147,483,648 (2³²) Dwell Time: 0 ~ 65,535ms (milliseconds)

Teach Configuration

Bit 0 ~ 11	Bit 12 ~ 15
Positioning Data Number PLC–ES: 1 ~ 30 (H001 ~ H01E)	Data Type to Teach: 0: Target address 1: Operation speed 2: Circular interpolation address 3: Dwell time

D Data Register Result

Result Type	Bits	Description
Error Code	H00	No error
Error Code	H01	Writing parameters and positioning data to flash memory failed
Error Code	H02	Writing positioning data to the flash memory failed
Error Code	H03	Writing parameters to the flash memory failed
Error Code	H04	Instruction operated more than 25 times after executing
Error Code	H10	Incorrect parameter
Error Code	HFF	Instruction not supported
Operation Status	Bit 0	1 when the instruction executes
Operation Status	Bit 1	1 when instruction execution finishes
Operation Status	Bit 2	1 when an error occurs Simultaneously sets with Bit 1
Operation Status	Bit 3 ~ 7	Reserved

Notice

Error Flag (F11.0) Notice

The error flag, F11.0, will be ON for one scan when the address of the data register assigned by @D exceeds the range of the data register, D. The range of the data register, D, is dependent on the CPU type.

Execution Condition

It is recommended that the TEACH1 and TEACH2 instructions be used with a pulse contact as an execution condition.

Instruction Usage

TEACH1 teaches the X axis. TEACH2 teaches the Y axis.

Ladder Diagram Examples

TEACH1

The TEACH1 instruction teaches a certain positioning data assigned to the X-axis on the positioning module Base/Slot. The control control data, S, is the information taught. The operation status is saved in the assigned WORD data register, D.

When the contact, M0.0, is powered ON (1), the TEACH1 instruction teaches the positioning data to the module at H0000. The X-axis data is taught.

The result of the teaching is saved in the data register, M200.

TEACH2

The TEACH2 instruction teaches a certain positioning data assigned to the Y-axis on the positioning module Base/Slot. The control control data, S, is the information taught. The operation status is saved in the assigned WORD data register, D.

When the contact, M0.0, is powered ON (1), the TEACH1 instruction teaches the positioning data to the module at H0000. The Y-axis data is taught.

The result of the teaching is saved in the data register, M300.