YASKAWA SVC User Manual page 191

4.2 Motion Command Details
4.2.5 LATCH (Latch)
Register
Address

OL

OL

OW

OL

OW
 Monitor Parameters
Register
Address

IW
Bit 1

IL

IL

IW

IW
Bit 0

IW
Bit 1

IW
Bit 3

IW
Bit 8

IW
Bit 0

IW
Bit 1

IW
Bit 2
4-48
Name
Positioning Comple-
1E
tion Width
NEAR Signal Out-
20
put Width
Speed Compensa-
31
tion
Linear Deceleration
38 Rate/Deceleration
Time Constant
3A Filter Time Constant
Name
00 Running with Servo
ON
02 Warnings
04 Alarms
Motion Command
08
Response Code
09 Command Execu-
tion Flag
09 Command Hold
Completed
09
Command Error End
09 Command Execu-
tion Completed
0C Distribution Com-
pleted
0C Positioning Com-
pleted
0C
Latch Completed
Set this parameter to the value for which bit 1 in IW0C will change
to 1 (Within positioning completed range).
Set this parameter to the value for which bit 3 in IW0C will change
to 1 (Within near position range). Bit 3 changes to 1 when the absolute
value of the difference between the reference position and the feedback
position is within the range that is specified here.
Set the speed feedforward amount as a percentage of the rated speed.
The setting unit for this parameter is always 0.01%.
Set the positioning deceleration rate with the deceleration time.
This parameter is used for decelerating to a stop when an alarm occurs.
Set the acceleration/deceleration filter time constant. Exponential accel-
eration/deceleration or a moving average filter can be selected in bits 8
to B in OW03.
This setting can be changed only when distribution has been completed
(i.e., when bit 0 in IW0C is 1).
Monitored Contents
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
This parameter reports the current warning status.
This parameter reports the current alarm status.
This parameter shows the motion command currently in execution.
This parameter is 6 during execution of the LATCH command.
This bit is always 0 (Completed) for the LATCH command.
This bit is always 0 (Command hold not completed) for the LATCH com-
mand.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the LATCH command.
The axis will decelerate to a stop if it is moving. This bit changes to 0
(Completed normally) when another command is executed.
This bit is always 0 (Normal execution not completed) for the LATCH
command.
This bit changes to 1 (Distribution completed) when the distribution for
the travel motion command is completed.
This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
This bit is 1 (Within positioning completed range) when distribution is
completed and the current position is within the positioning completed
range. This bit is 0 (Outside positioning completed range) in all other
cases.
This bit changes to 0 (Latch not complete) when a new latch command
is executed and it changes to 1 (Latch completed) when the latch is
completed. The latched position is reported in IL18.
Continued from previous page.
Setting Details