Yaskawa SMC–4000 - Manual (Page 211)

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SMC–4000 User Manual
RU (Unmodularized Latch Position)
[Position]
DESCRIPTION:
Similar to RL (Report Latch) , RU retuns the umodularized latched encoder position for an ECAM axis.
Unlike RL, the true encoder position is returned rather than the position modulus of the cam cycle. If RU is
called on an axis that is not in ECAM mode, Ru will behave identically to RL.
ARGUMENTS: RU nnnn where
n is X, Y, Z, W, A, B, C, D or any combination specifying the axis or axes.
USAGE:
OPERAND USAGE:
_RUn contains the unmodularized latched encoder position of the specified axis.
RELATED COMMANDS:
AL (Arm Latch)
RL (Report Latch)
EXAMPLES:
While Moving No Default Value 0
In a Program Yes Default Format PF
Command Line Yes
:AL Arm latch and assume that input goes low
after 2 seconds.
:RU
1000 Report the latch