Registration Example - YASKAWA XTRAWARE - V3.0 Manual

Operating the XtraDrive Using XtraWare
is dependent on the motor speed and the exact moment in the sampling
interval at which latching takes place. The position is recorded in terms of
user position units.
4.10.4.2. Latched_master_position
This variable records the position of the master axis when the latching
condition was met. Because the sampling time is 62.5 μs, the accuracy of
the latching is dependent on the motor speed and the exact moment in the
sampling interval at which latching takes place. The position is recorded in
terms of master counts.
4.10.4.3. Motion_status
This variable indicates how the motion ended. Motion_status has four
possible states:
♦ 0 (Not in motion): Motor not in motion.
♦ 1 (Stopped by registration): The latching condition was met during
motion, and the motion was stopped by registration.
♦ 2 (Motion stopped but not in registration requested position):
The latching condition was met during motion, but the registration
distance exceeded the remaining motion distance. The motion thus
ended normally, but further than the registration distance.
♦ 3 (Still in motion): The latching condition has not been met, and the
motor is still in motion.
4.10.4.4. Latched_position_ready
This variable indicates whether or not the latching condition has been met.
The variable has two possible states:
♦ 0: The latching condition has not yet been met.
♦ 1: The latching condition has been met.
This variable is automatically set to 0 by the LATCHING_TRIGGER
command. It is set to 1 once the latching data has been processed (this
may take up to 4 ms).

4.10.5. Registration Example

The following short example program illustrates the use of the commands
and variables discussed above.
Speed 300
Sets the speed for the MOVE_H command.
LATCHING_TRIGGER Rising Edge
Sets latching condition.
74 XtraWare User Manual