Registration And Latching - YASKAWA XTRAWARE - V3.0 Manual

Operating the XtraDrive Using XtraWare

4.10. Registration and Latching

The latching function is used to capture the position of the motor encoder or
external encoder when signaled to do so by a digital input. Latching is
performed within 62.5μs of the digital input being received.
The registration function is used to stop motion in a predefined distance
once an input has been received. For example, a MOVE_H command could
have been used to cause the motion shown below. Registration terminates
the motion prematurely after an input has been received. The solid line in
the graphic below illustrates the motor motion that results due to the input
changing from 0 to 1. The dashed line illustrates how the motor would have
moved had the input not been received.
Figure 50: Illustration of Motion Terminated by Registration
In the diagram:
♦ D1: The delay between the input being received and registration
beginning.
♦ D2: The predefined registration distance.
♦ The dashed line in the Velocity graph represents the motion that would
have taken place had the input not been received.
Note:
Only input 6 (CN1-46) is used to trigger registration. There is no
need to set In_6 to function as a latch input.
70 XtraWare User Manual