Many applications require that the operator be able to teach the system the desired positions in a sequence of moves. The RMC uses the Teach Step command to support these applications. This feature requires the use of Event Control; see Event Control Overview if you are not familiar with this feature.
The Teach Step Command
When the Teach Step command is issued to an axis, the current Target Position for the axis is copied into the Command Value field of the event step given by the command. Therefore, the move being taught must be located in the Event Step table.
Using Teach Mode
The following general steps are used in setting up an application utilizing teach mode:
Set up the Event Step table to hold the desired sequence of moves.
At this point, the moves that are to be taught do not need to have correct requested positions, but for safety, approximate values should be used.
Download the Event Step table to the RMC.
Jog the axis to the first desired position.
Issue a Teach Step command to fill the requested position of the first move to be taught.
Repeat steps 3 and 4 for as many taught moves as desired.
Execute the newly taught Event Step sequence.
Teach mode can be, and has been, implemented using even the simplest communication mode: the Communication Digital I/O using Input to Event Mode. In this case it is necessary to place the Teach Step commands in the Event Step table as well, and trigger them using discrete inputs.
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