Yaskawa LEGEND-MC - Manual (Page 167)

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LEGEND-MC User’s Manual
LT (Latch Target)
[Motion]
DESCRIPTION:
The LT command is used for stopping an axis a defined distance after a registration mark (latch) input.
The distance specified by the LT command is in encoder counts. The distance must be sufficiently large
for the controller to decelerate normally at the specified deceleration rate. A stop code will be generated
if the distance is too small to stop for the deceleration rate or if the speed is too high. To Disable the latch
target, set LTX=0.
ARGUMENTS: LTX=x LTx,y,z,w LTa,b,c,d,e,f,g,h
POSSIBLE STOP CODES:
1 Motors stopped at commanded independent position (Latch input not received)
40 Stopped at Latch Target.
41 Latch Target overrun due to limit switch or stop command.
42 Latch Target overrun due to insufficient distance.
USAGE:
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Default Value n/a
In a Program Yes Default Format ---
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes Distributed Control Specific Axis
"AL" Arm Latch
"RL" Report Latch
ALX Set latch function
LTX=25000 Set Latch Target to stop 25000 counts
after registration
PRX=100000 Position Relative Move
BGX Begin Motion
AMX After Motion
JP #NOMRK,_SCX=1 Jump to #NOMARK routine if did not
receive a registration mark