Execute teaching

The user is led through the required action steps via the eNextStep output. After an action step has been executed, this has to be acknowledged via the xStepConfirm input. Thereupon, the next action step is displayed via the eNextStep output.

For the eNextStep output, the "L_MC4P_TeachCoordinateSystemSteps" enumeration type is used for which the following constants (WORD) are defined:

Name

Initial value

Info

None

0

FB is deactivated

TeachOrigin

1

Action step 1: Approaching the coordinate origin

TeachPosXAxis

2

Action step 2: Approaching a position on the positive x axis

TeachPosQuadrantXY

3

Action step 3: Approaching a point on the positive quadrant of the XY plane

Done

4

Teaching completed

Tip!
  • The FB L_MC4P_AxesGroupBasicControl is available for approaching the points to be taught.
  • Distances as large as possible reduce inaccuracies between the taught points.
  • In the last step, a point with a distance as large as possible towards the desired x axis should be taught.
How to proceed:
  1. Use the eCoordSystem input to define the coordinate system to be taught.
  2. Instruct the FB with a FALSE/TRUE edge at the xExecute input.
    Now, the first action step to be executed is displayed at the eNextStep output.
  1. Action step 1: Approach coordinate origin (e.g. via jogging).
  2. Acknowledge action step by means of FALSE/TRUE edge at the xStepConfirm input.
    Now, the second action step to be executed is displayed at the eNextStep output.
  1. Action step 2: Approach a position on the positive x axis.
  2. Acknowledge action step by means of FALSE/TRUE edge at the xStepConfirm input.
    Now, the third action step to be executed is displayed at the eNextStep output.
  1. Action step 3: Approach a point on the positive quadrant of the XY plane.
  2. Acknowledge action step by means of FALSE/TRUE edge at the xStepConfirm input.