Yaskawa LEGEND-MC - Manual (Page 209)

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LEGEND-MC User’s Manual
RL (Report Latch)
[General]
DESCRIPTION:
The RL command will return the last position captured by the latch. The latch must first be armed by the
AL command. The armed state of the latch can be configured using the CN command.
NOTE: Use QL to read the value of the auxiliary latch on input #2.
ARGUMENTS: RLn where
n = XYZW or ABCDEFGH for the main encoder latch.
USAGE:
OPERAND USAGE:
_RLn contains the main encoder latched position where n is an axis letter.
RELATED COMMAND:
EXAMPLES:
While Moving Yes Default Value n/a
In a Program Yes Default Format Position Format
Command Line Yes
Can be Interrogated No
Used as an Operand Yes Distributed Control Specific Axis
"AL" Arm Latch
“QL” Query Latch (Auxiliary Encoder)
JG 5000 Set up to jog
BG Begin jog
AL Arm the latch; assume that after about 2
seconds, input goes low
#WAIT; JP #WAIT,_ALX=1 Wait here while latch is still armed
RL Report the latch
10000