Yaskawa FSP Amplifier FlexWorks - Manual (Page 83)

Operating the FSP Amplifier Using FlexWorks
83
4.10. Registration and Latching
The latching function is used to capture the position of the motor
encoder or external encoder when signaled to do so by a digital
input. Latching is performed within 62.5μs of the digital input being
received.
The registration function is used to stop motion in a predefined
distance once an input has been received. For example, a MOVE_H
command could have been used to cause the motion shown below.
Registration terminates the motion prematurely after an input has
been received. The solid line in the graphic below illustrates the
motor motion that results due to the input changing from 0 to 1.
The dashed line illustrates how the motor would have moved had
the input not been received.
Figure 50: Illustration of Motion Terminated by Registration
In the diagram:
♦ D1: The delay between the input being received and registration
beginning.
♦ D2: The predefined registration distance.
♦ The dashed line in the Velocity graph represents the motion that
would have taken place had the input not been received.
N
OTE
:
Only input 6 (CN1-46) is used to trigger registration. There is
no need to set In_6 to function as a latch input.