Latch (Latch) - YASKAWA MP2100 Series User Manual

8 Motion Commands

8.6 Latch (LATCH)

The LATCH command saves in a register the current position when the latch signal is detected during interpola-
tion positioning.
The latch signal type is set in setting register OW
EXT2, or /EXT3 signal.
When executing the LATCH command more than once, change the Motion Command to NOP for at least one
scan before executing LATCH again.
(1) Operating Procedure
No.
1 There are no alarms.
2 The Servo ON condition.
3 Motion command execution has been completed.
Set the motion setting parameters.
• Target Position: OL
• Acceleration/Deceleration Filter Type:
OW
• Speed Loop P/PI Switch: OW
• Speed Feed Forward: OW
• Latch Signal Selection: OW
Execute the LATCH motion command.
• Set OW
Positioning starts.
• IW
Change the Target Position (OL
every high-speed scan.
When the latch signal turns ON, the current
position will be stored in the Register
(IL 18).
Positioning Completed
• IB
Execute NOP motion command.
• Set OW
(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 Command Pause bit (OB
8-36
Execution Conditions
1C
03
01
30
04
08 to 6.
08 will be 6 during execution.
0C1 will turn ON.
08 to 0.
090) and the Command Abort bit (OB
04 and can be set to the phase-C pulse or the /EXT1, /
Both IL
IB 001 is ON.
IW
Speed
(%)
0
Latch Signal
Positioning Completed Range
POSCOMP
• Speed feed forward can be applied.
• Generate the target position data each high-speed scan from the
ladder program.
1C)
• The travel speed is calculated automatically.
• The Command Pause (OB
• The Command Abort (OB
• Change a motion command to stop interpolation execution.
• Select the latch signal from the SERVOPACK phase-C pulse, /
EXT1, /EXT2, or /EXT3.
Confirmation Method
02 and IL 04 are 0.
08 is 0 and IB 090 is OFF.
This position is stored.
IL
Position
090) cannot be used.
091) cannot be used.
091) cannot be used.
18)
Time (t)