Yaskawa MP920 Motion Module - Manual (Page 229)

5.4 SVA-01A and SVA-02A Parameters
5-87
5
* 1. DI Latch Request = operating mode (OW††00, bit 3)
* 2. DI Latch Completed Signal = operating status (IW††00, bit 3)
* 3. Machine Coordinate System Latch Position = position when DI was
detected (IL††06)
The machine coordinate system latch position is also stored for position control via
motion commands, i.e., when the following commands are executed: the external posi-
tioning motion command (EX_POSING: OW
†† 20 = 2) and the motion program EXM
command. When executed, the axis moves either the External Positioning Travel Dis-
tance (OL
†† 24) or the travel distance specified in the motion program and the axis
stops.
DIINT
Hardware latch
Using the Special Discrete Input
Counter count
register
DI Latch Request *1
External signal D17
DI Latch Completed Signal *2
Machine Coordinate System
Latch Position *3
0
(+)
(-)
0.5ms min.
DIINT
Table 5.7 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description
3 Calculated
Position in
Machine
Coordinate
System
(CPOS) IL††02 -2 31 to 2 31 -1 Indicates the calculated position in a machine coordinate system con-
trolled by SVA Modules. Normally the position data indicated at this
register is the target position for each scan.
See 2 of Supplemental Explanation 4.
5 Target Posi-
tion Difference
Monitor (PT-
GDIF) IL††04 -2 31 to 2 31 -1 Indicates the amount cleared every scan.
7 Machine Coor-
dinate System
Latch Position
(LPOS) IL††06
-2 31 to 2 31 -1
Indicates the current position the instant the DI latch signal turned
ON.
See 2 of Supplemental Explanation 4.