Registration Variables - YASKAWA XTRAWARE - V3.0 Manual

Figure 52: Rising and Falling Edge Conditions
4.10.3.2. REGISTRATION_DISTANCE
Format: REGISTRATION_DISTANCE <Distance>
This command causes the motor to decelerate to a stop a specified distance
from the point at which the motor position was latched
(Latched_motor_position). The distance over which the deceleration occurs
is specified by the <Distance> argument, which is specified in user position
units.
Note the following:
♦ The rate at which the motor will decelerate is governed by the profile
acceleration (See section 12.2.2, Profile Acceleration).
♦ The motor will stop at the requested position unless the distance
required for the deceleration exceeds the remaining motion distance.
♦ The variable Motion_status indicates whether the motion ended as
commanded by the REGISTRATION_DISTANCE command. See section
4.10.4.3, Motion_status.
♦ This command executes immediately and it should thus be preceded in
the program by a command that delays its execution until latching has
been completed. Use the command WAIT_VAR Latched_position_ready
= 1 or an interrupt conditional on this variable to ensure that
REGISTRATION_DISTANCE is executed only once latching has been
completed.

4.10.4. Registration Variables

There are four variables related to registration. Latched_position_ready acts
as a flag to indicate when the latching condition has been met. The
Latched_motor_position and Latched_master_position variables record the
positions of the controlled motor and of the master (if applicable) at the
instant the condition is met. Finally, the Motion_status variable indicates
whether the registration movement was performed.
4.10.4.1. Latched_motor_position
This variable records the position of the motor when the latching condition
was met. Because the sampling time is 62.5 μs, the accuracy of the latching
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