Yaskawa MP920 User's Manual Design - Manual (Page 187)

4.4 Position Control Using Motion Commands
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The example in the above illustration has been greatly simplified. In actual operation, each
register can be controlled from the user program.
4.4.6 Interpolation with Position Detection (LATCH)
„ Overview
In the same way as for an interpolation feeding, the latch signal is used to latch the current
position counter while the interpolation feed is being executed, and reports the changed latch
position converted to the reference unit system.
A specific discrete input (DI input) is used for the latch signal.
„ Details
For details on interpolation operations, see 4.4.5 Interpolation (INTERPOLATE,
END_OF_INTERPOLATE).
When latching is performed again after current position counter latching has been executed once by the
latch signal, first set the motion command to NOP for 1 scan or more, and then execute the LATCH
command.
4.4.7 Fixed Speed Feed (FEED)
„ Overview
This command performs rapid traverse in the infinite length direction using the specified
acceleration/deceleration time constant and the specified rapid traverse speed.
The rapid traverse speed can be changed during operations.
The axis decelerates to a stop when NOP (= 0) is set in the motion command code
(OW††20).
IMPORTANT