Troubleshooting; Commands - YASKAWA XTRAWARE - V3.0 Manual

Operating the XtraDrive Using XtraWare

4.10.2. Troubleshooting

In certain circumstances, the motor will not stop at the point specified by
the registration process. The value of the variable Motion_status indicates
how the motion ended.
1. The motor traveled further than the registration distance, but not as far
as the target position of the original motion command.
This will occur if the registration distance is not sufficiently long for the
motor to be able to decelerate to a stop at profile acceleration (see
section 12.2.2, Profile Acceleration). Either increase the registration
distance, or increase the profile acceleration.
2. The motor stopped at the target position specified by the original motion
command, as if registration had not occurred.
This will occur if the latching condition was not met. To ensure that the
motor will stop by registration, increase the distance to be traveled
specified by the motion command.

4.10.3. Commands

Two commands are required when using latching: one to enable and define
a condition for latching, and another to define the stopping distance once
the condition has been met.
4.10.3.1. LATCHING_TRIGGER
Format: LATCHING_TRIGGER <Condition>
This command enables latching and specifies the condition that must be
specified for latching to begin. Specifically, once this condition has been
met, the variable Latched_position_ready is set from 0 to 1.
Figure 51: Programming a LATCHING_TRIGGER Command
The three conditions that can be chosen are:
♦ Off: Setting this condition cancels any previous LATCHING_TRIGGER
command.
♦ Rising Edge: Registration will be triggered when Input 6 (which is
connected at CN1-46) changes from 0 to 1.
♦ Falling Edge: Registration will be triggered when Input 6 (which is
connected at CN1-46) changes from 1 to 0.
72 XtraWare User Manual