This procedure stores taught X-Y positions and a per-point adhesive parameter as an indexed recipe. The key design decision is to save the PLC pulse-position registers associated with the servo outputs, not the handwheel pulse count.
Define the Point Record
Create one recipe row for each taught point. Each row needs an X position, a Y position, and the operator-entered adhesive parameter. The available evidence does not define whether that parameter represents time, quantity, or another unit, so keep its engineering meaning explicit in the HMI and motion program.
| Recipe field | Value captured during teaching |
|---|---|
| X position | Pulse-position value associated with Y0.0 |
| Y position | Pulse-position value associated with Y0.2 |
| Adhesive parameter | Value entered on the HMI for that point |
Capture the Servo Positions
Read SR460 for the axis driven through Y0.0 and SR480 for the axis driven through Y0.2. Because the handwheel already moves the servos, these registers represent the positions to preserve for playback. Recording the handwheel input pulses instead would not directly preserve the resulting axis positions.
- Jog both axes with the handwheel until the injector is at the required coordinate.
- On the rising edge of the Teach command, copy SR460, SR480, and the adhesive parameter into the current recipe row.
- Increment the recipe row number, identified in the evidence as RCPNO, so the next Teach command writes the next point.
- Repeat until all required coordinates have been stored.
Use Indexed Storage for Sequential Points
For PLC-side storage, indirect addressing with E0 selects the destination offset. The documented sequence stores successive position values at D0, D2, and D4: E0 equal to 0 selects D0, and E0 equal to 2 selects D2. Therefore, each Teach event advances to the next destination instead of writing all destinations simultaneously.
On Teach rising edge:
save current position at destination selected by E0
advance E0 from 0 to 2, then 4, and so on
Equivalent documented destination sequence:
first capture -> D0
second capture -> D2
third capture -> D4For two axes plus an adhesive field, define a complete record layout before implementation and advance the index by that record's actual storage width. The evidence does not specify the operand sizes, recipe capacity, bounds behavior, or whether the same commands apply to the DVP series; verify those items in the applicable PLC and HMI documentation before downloading the program.
Verify Teaching and Playback
After teaching several points, display the stored X, Y, and adhesive values on the HMI and confirm that each Teach press changes only the selected row. Then command playback at reduced machine risk and compare the reached positions with the taught coordinates. Confirm that the adhesive parameter follows the same row as its coordinate and that the row index cannot advance beyond the allocated storage.
FAQ
Should I save handwheel pulses or servo position during teaching?
Save the PLC pulse-position values associated with the servo outputs. The evidence identifies SR460 for Y0.0 and SR480 for Y0.2.
Does one Teach press write D0, D2, and D4 simultaneously?
No. With indirect addressing, the E0 value selects the destination: E0 equal to 0 selects D0, while E0 equal to 2 selects D2. Advance the offset after each capture to store points sequentially.
How do I store different adhesive amounts for each XY point?
Add an adhesive parameter to every recipe row and capture it with the X and Y positions on the same Teach event. During playback, read all three fields from the same row.