Yaskawa MP2200 Machine Controller - Manual (Page 289)

5.2 Motion Command Details
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5.2.5 Latch (LATCH)
The LATCH command saves in a register the current position when the latch signal is detected
during interpolation positioning.
The latch signal type is set in setting register OW††04 and can be set to the phase-C pulse, /EXT1
signal, /EXT2 signal, or /EXT3 signal for the SVB-01 and to the EXT signal, ZERO signal, or phase-
C pulse for the SVA-01.
When executing the LATCH command more than once, change the Motion Command to NOP for at
least one scan before executing LATCH again.
„ Torque Feed Forward Gain Function
Torque feed forward gain can be used when LATCH commands are sent using SGDS SERVOPACKs.
Torque feed forward gain is set in Torque Reference (setting parameter OL††0C). The required
conditions are as follows:
• SERVOPACK parameter Pn002.0 = 2
• MP2300 software version 2.02 or later
• SGDS communication interface version 8 or later
( 1 ) Operating Procedure
INFO
No. Execution Conditions Confirmation Method
1 There are no alarms. Both IL††02 and IL††04 are 0.
2 The Servo ON condition. IB††001 is ON.
3 Motion command execution has been completed. IW††08 is 0 and IB††090 is OFF.