Yaskawa LEGEND-MC - Manual (Page 70)

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LEGEND-MC User’s Manual
AL (Arm Latch)
[Setting]
DESCRIPTION:
The AL command enables the latching function (high speed position capture) of the controller. When the
AL command is used to arm the position latch, the encoder position of the main encoder input will be
captured upon a low going signal on Input 1. When interrogated or used in an operand the AL command will
return a 1 if the latch is armed or a zero after the latch has occurred. The command RL returns the captured
position value. The CN command will change the polarity of the latch.
ARGUMENTS: ALn where
n = XYZW or ABCDEFGH for the main encoder latch and
n = SX, SY, SZ, SW or SA, SB, SC, SD, SE, SF, SG, SH for the auxiliary encoder latch
USAGE:
OPERAND USAGE:
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Minimum Value n/a
In a Program Yes Maximum Value n/a
Command Line Yes Default Value n/a
Can be Interrogated No Default Format n/a
Used as an Operand Yes Distributed Control Specific Axis
_ALn State Meaning
0 Neither Armed
1 Main Armed
2 Auxiliary Armed
3 Both Armed
"RL" Report Latch
"CN" Configure
#START Start program
ALX Arm latch on X axis
JG 50000 Set up jog at 50000 counts/sec
BG Begin the move
#LOOP Loop until latch has occurred
JP #LOOP,_ALX=1
RL Transmit the latched position
EN End of program