Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 201)

6.2 Motion Command Details
6.2.5 Interpolation Mode with Latch Input (LATCH)
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6.2.5 Interpolation Mode with Latch Input (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 phase-C pulse, /EXT1 signal, /EXT2 sig-
nal, or /EXT3 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.
Torque feed forward gain can be used when LATCH commands are sent using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque/Thrust Reference Setting (setting parameter OL
0C). The required con-
ditions are as follows:
• SERVOPACK parameter Pn002.0 = 2
• SGDS communication interface version 8 or later
When using an SGDV SERVOPACK, the torque limit can be set and changed during SERVOPACK operation. For
details, refer to Setting and Changing Torque Limit during SGDV SERVOPACK Operations of 4.4.2 ( 12 ). When
using a DC Power Input
Σ-V Series SERVOPACK (Model: SGDV- E1 ), refer to 11.7.4 Motion Command
Operation for External Latches with DC Power Input Σ -V-series SERVOPACKs.
( 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 Loop P/PI Switch: OW 01
Speed Feed Forward Amends: OW 30
Function Setting 2: OW 04
3.
Set OW 08 to 6 (Latch) to execute a LATCH motion command.
6 is stored in IW 08 during positioning.
4. Refresh the value of OL 1C “Position Reference Setting.”
The target position is updated to the refreshed value of OL 1C at every high-speed scan. *
The difference between the target position of one high-speed scan and that of the next high-speed scan will be the
moving speed.
When the axis reaches the target position, bit 1 of IW
0C will turn ON and positioning will be completed.
* When the incremental addition mode is set for bit 5 of OW 09 “Position Reference Type,” the following value
will be set to the current target position: Previous target position + Difference between the current value and the
previous value of the Position Reference Setting
Execute a LATCH command considering the latch process time obtained by the following equation.
Latch process time = 2 scans + MECHATROLINK communication cycle + SERVOPACK’s processing time (4
ms max.)
R
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL 02 and IL 04 are 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.