Yaskawa JAPMC-MC2300 - Manual (Page 200)

7.2 Motion Command Details
7.2.5 Latch (LATCH)
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7.2.5 Latch (LATCH)
The LATCH command saves in a register the current position when the latch signal is detected during interpolation
positioning.
The latch signal type is set in setting register OW
04 and can be set to the EXT, ZERO, or phase-C signal.
Speed feed forward compensation can be applied.
When executing the LATCH command more than once after latching the current position by the LATCH command,
change the Motion Command to NOP for at least one scan before executing LATCH again.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set the following motion setting parameters.
Position Reference Setting: OL 1C
Filter Type Selection: OW 03, bits 8 to B
Speed Feedforward Amends: OW 30
Latch Detection Signal Selection: OW 04
3. Set OW 08 to 6 (Latch) to execute a LATCH motion command.
The positioning starts. The travel speed is automatically calculated.
6 is stored in IW
08 during positioning.
The target position is refreshed every high-speed scan. Set the target position to be refreshed in OL 1C (Posi-
tion Reference Setting).
When the latch signal turns ON, the current position is latched and stored in IL
18.
When the axis reaches the target position, the bit 1 of IW 0C turns ON and the positioning is completed.
4.
Set OW 08 to 0 to execute the NOP motion command and then complete the positioning operation.
( 2 ) Holding and Aborting
The axis will decelerate to a stop if there is no change in the target position each high-speed scan.
The Holds A Command bit (OW
09, bit 0) and the Interrupt A Command bit (OW 09, bit 1) cannot be used.
Change a motion command to NOP to stop the interpolation execution.
No. Execution Conditions Confirmation Method
1 There are no alarms. IL 04 is 0.
2 The Servo ON condition. IW 00, bit 1 is ON.
3 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Speed
High-speed scan
Time
Discharging Completed
(IW
0C, bit 0)
Positioning Completed
(IW
0C, bit 1)
0
Moving amount per
high-speed scan
(The difference between the values
of OL 1C of one scan
and the next scan)
Stores latched position.
(IL 18)
External input signal
EXT (pin N. 36) or
ZERO (pin No. 18) or
Phase-C signal
LATCH Operation Pattern