Yaskawa MP940 Reference Manual - Manual (Page 478)

MotionSuite™ MP940 Machine Controller Reference Manual Interpolation with Position Detection (LATCH)
11-81
Interpolation with Position Detection (LATCH)
Executes interpolation feed in the same manner as Interpolation Feed, and at the same
time executes current position latching according to the latch signal, and messages the
latch position converted into command units. Use a dedicated discrete input (DI) as
the latch signal.
Detailed Description
To execute current position counter latching by a single latch signal, and then
execute latching again, issue the latch command setting the motion
commands after the first scan to NOP (according to fixed parameter 13 “DI
Latch Detection Function Selection” 0:EXT3_1:C-phase).