Yaskawa FSP Amplifier FlexWorks - Manual (Page 86)

Operating the FSP Amplifier Using FlexWorks
86
The three conditions that can be chosen are:
♦ Off: Setting this condition cancels any previous
LATCHING_TRIGGER command.
♦ Rising Edge: Registration will be triggered when Input 6
(which is connected at CN1-46) changes from 0 to 1.
♦ Falling Edge: Registration will be triggered when Input 6
(which is connected at CN1-46) changes from 1 to 0.
Figure 52: Rising and Falling Edge Conditions
4.10.3.2. REGISTRATION_DISTANCE
Format: REGISTRATION_DISTANCE <Distance>
This command causes the motor to decelerate to a stop a specified
distance from the point at which the motor position was latched
(Latched_motor_position). The distance over which the deceleration
occurs is specified by the <Distance> argument, which is specified
in user position units.
Note the following:
♦ The rate at which the motor will decelerate is governed by the
profile acceleration (See section 12.2.2.).
♦ The motor will stop at the requested position unless the distance
required for the deceleration exceeds the remaining motion
distance.
♦ The variable Motion_status indicates whether the motion ended
as commanded by the REGISTRATION_DISTANCE command.
See Section 4.10.4.3, Motion_status
♦ This command executes immediately and it should thus be
preceded in the program by a command that delays its
execution until latching has been completed. Use the command
WAIT_VAR Latched_position_ready = 1 or an interrupt
conditional on this variable to ensure that
REGISTRATION_DISTANCE is executed only once latching has
been completed.