Yaskawa FSP Amplifier FlexWorks - Manual (Page 87)

Operating the FSP Amplifier Using FlexWorks
87
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 62.5μs, 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 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 62.5μs,
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.