Latching Workflow - YASKAWA XTRAWARE - V3.0 Manual

4.10.1. Latching Workflow

The registration process is described below. Detailed instructions for the use
of the commands and variables are provided in the sections that follow.
♦ Define a condition for latching using the LATCHING_TRIGGER
command. Possible conditions are:
Input 6 (connected at CN1-46) changes from 0 to 1 (Rising Edge).
Input 6 (connected at CN1-46) changes from 1 to 0 (Falling Edge).
♦ Start motion:
The registration process can be applied in the following motion
modes: Position, Velocity, Hunting, Pulse-Train, Analog Speed. See
section 5.3, Motion Modes.
♦ After 62.5ms of the condition being met:
The variable Latched_position_ready changes from 0 to 1.
The variable Latched_motor_position is set to the current position of
the motor, in position user units.
The variable Latched_master_position is set to the current position of
the master (if in use), in encoder counts.
♦ Perform the next step only once the Latched_position_ready variable
has changed from 0 to 1.
Use the command WAIT_VAR <Latched_position_ready> or assign an
interrupt conditional on this variable.
♦ Define the distance from where the input is received to where the motor
must stop using the REGISTRATION_DISTANCE command.
The deceleration caused by registration is defined by the variable
Profile_acceleration. When specifying the registration distance, ensure
that it is sufficiently long for the motor to be able to decelerate to a
stop at the profile acceleration.
♦ The motor decelerates to a stop.
Under certain circumstances, the motor will not stop at the point
command by REGISTRATION_DISTANCE. See 4.10.2,
Troubleshooting.
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