Rl (report latch), General – Yaskawa LEGEND-MC User Manual
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LEGEND-MC User’s Manual
RL (Report Latch)
[General]
DESCRIPTION:
The RL command will return the last position captured by the latch. The latch must first be armed by the
AL command. The armed state of the latch can be configured using the CN command.
NOTE: Use QL to read the value of the auxiliary latch on input #2.
ARGUMENTS: RLn
where
n = XYZW or ABCDEFGH for the main encoder latch.
USAGE:
OPERAND USAGE:
_RLn contains the main encoder latched position where n is an axis letter.
RELATED COMMAND:
EXAMPLES:
While Moving
Yes
Default Value
n/a
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Can be Interrogated
No
Used as an Operand
Yes
Distributed Control
Specific Axis
"AL"
Arm Latch
“QL”
Query Latch (Auxiliary Encoder)
JG 5000
Set up to jog
BG
Begin jog
AL
Arm the latch; assume that after about 2
seconds, input goes low
#WAIT; JP #WAIT,_ALX=1
Wait here while latch is still armed
RL
Report the latch
10000