Yaskawa FSP Amplifier FlexWorks - Manual (Page 7)

Table of Contents
7
4.9.13.2. ECAM_DISENGAGE ...................................................................... 74
4.9.13.3. ENGAGE_VIRTUAL_AXIS ........................................................... 74
4.9.14. Modifying a Profile using Variables..........................................................75
4.9.14.1. Profile Scaling................................................................................... 75
4.9.14.2. Shift................................................................................................... 77
4.9.14.3. Offset................................................................................................. 78
4.9.15. Monitoring Master and Slave Positions.....................................................79
4.9.16. Serial Communication and ECAM ............................................................80
4.9.16.1. ECAM Commands for Serial Communication................................. 80
4.9.16.2. Example of Using Serial Communication to Send an ECAM Table to
the FSP Amplifier ..................................................................................... 80
4.10. Registration and Latching...................................................................................83
4.10.1. Latching Workflow....................................................................................84
4.10.2. Troubleshooting .........................................................................................85
4.10.3. Commands .................................................................................................85
4.10.3.1. LATCHING_TRIGGER................................................................... 85
4.10.3.2. REGISTRATION_DISTANCE........................................................ 86
4.10.4. Registration Variables................................................................................87
4.10.4.1. Latched_motor_position ................................................................... 87
4.10.4.2. Latched_master_position .................................................................. 87
4.10.4.3. Motion_status.................................................................................... 87
4.10.4.4. Latched_position_ready.................................................................... 88
4.10.5. Registration Example.................................................................................88
4.11. Interrupts.............................................................................................................89
4.11.1. Interrupt Events..........................................................................................89
4.11.2. Multiple Interrupts .....................................................................................89
4.11.3. Interrupt Response Time............................................................................89
4.11.4. Interrupt
Masks ..........................................................................................90
4.11.5. Interrupt Handling......................................................................................90
4.11.6. Interrupt Variables .....................................................................................91
4.11.6.1. Interrupt_request ............................................................................... 91
4.11.6.2. Interrupt_mask .................................................................................. 91
4.11.6.3. Interrupt_pending.............................................................................. 92
4.11.6.4. Example
of Interrupt Variable Functioning...................................... 92
Interrupt_mask: ................................................................................................. 92
Interrupt_request:.............................................................................................. 92
Interrupt_reg: .................................................................................................... 93
4.11.7. Interrupt Commands ..................................................................................93
4.11.7.1. EXT_INT .......................................................................................... 93
4.11.7.2. INT.................................................................................................... 94
4.11.7.3. INT_RETURN.................................................................................. 94
4.11.8. Interrupt Example ......................................................................................95
4.12. Master-Slave Synchronization............................................................................98
4.12.1. Using New_move_enable to Reduce Response Time ...............................98
4.12.2. Overriding
New_move_enable ..................................................................98
4.12.3. Example Program for a Flying Shear Application.....................................99