Omron SYSMAC CS1G Operation Manual page 335

Command Details
Specification
End position is omitted
Start position<End posi-
tion
Start position>End posi-
tion
Start position=End posi-
tion
Note
Caution
312
Accepting section: End position and before
Lower limit
Accepting section: Start position and after, End position and before
Lower limit Start position
Accepting section: End position and before, Start position and after
Lower limit End position
Ends latch check operation being executed
Lower limit
Both lower and upper limits indicate the lower and upper limits of each coordi-
nate system.
• The latch check operation is ended by one of the following operations:
1. LATCH command is executed as Latch check start position = Latch
check end position
2. END Command execution
• LATCH command execution will be completed when latch check operation
is started.
• It may take 260ms max. (Latch startup time) until the MC Unit becomes
able to actually accept the latch signal after starting LATCH command.
Note For details, see 1-7 Performance Calculation Method for the
Counter Latch Startup Time on page 20.
• As shown below, it takes the following time periods until the MC Unit
becomes able to accept another LATCH command after completion of a
LATCH command:
• When Unit cycle: Communication cycle = 1 : 1
• When Unit cycle: Communication cycle = 2 : 1
• Do not restart the MC Unit, or restore power only to the MC unit (including
temporary power interruption) when the Unit is waiting for a latch signal
after executing LATCH command in which the latch check position has
been specified. When Latch check start/end positions are specified in
LATCH command, the motor parameters [900A: Latch range (+) No.] and
[900B: Latch range ( − ) No.] in the servo driver will be automatically
updated. Restarting the MC Unit or restoring power only to the MC unit
(including temporary power interruption) at this point will not bring back
the parameter settings before being updated. In addition, executing an
origin search, etc. using a latch signal under this condition may cause the
axis to operate in an unexpected way since the latch signal input outside
of the latch check range cannot be detected.
Operation
End position
End position
Start position
Section 6-3
Upper limit
Upper limit
Upper limit
Upper limit
6 × Unit cycle
4 × Unit cycle