Yaskawa JAPMC-MC2300 - Manual (Page 201)

7.2 Motion Command Details
7.2.5 Latch (LATCH)
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7
Motion Commands
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
Parameter Name Setting
OW 00
Bit 0
Servo ON
Turns the power to the Servomotor ON and OFF.
1: Power ON to Servomotor, 0: Power OFF to Servomotor
Set this bit to 1 before setting the Motion Command (OW
08) to 6.
OW 03 Function Setting 1 Select the filter type.
OW 04 Function Setting 2
Select the latch signal type.
0: EXT (DI_5), 1: ZERO (DI_2), 2: Phase-C pulse signal
OW 08 Motion Command The positioning starts when this parameter is set to 6.
OW 09
Bit 5
Position Reference
Type
Select the type of position reference.
0: Incremental addition mode, 1: Absolute mode
Set this bit before setting the Motion Command (OW
08) to 6.
OL 1C
Position Reference
Setting Set the target position for positioning. The setting can be updated every high-speed
scan.
OL 1E
Width of Positioning
Completion
Set the width in which to turn ON the Positioning Completed bit (IW 0C, bit 1).
OL 20
NEAR Signal Output
Width
Set the range in which the NEAR Position bit (IW 0C, bit 3) will turn ON.
The NEAR Position bit will turn ON when the absolute value of the difference
between the reference position and the feedback position is less than the value set here.
OW 3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential acceleration/deceler-
ation or a moving average filter can be selected in the Function Setting 1 (OW
03,
bits 8 to B).
Change the setting only after pulse distribution has been completed for the command
(IW
0C, bit 0 is ON).
Parameter Name Monitor Contents
IW 00
Bit 1
Running
(At Servo ON) Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates any alarms that have occurred during execution.
The response code is 6 during LATCH command operation.
IW 09
Bit 0
Command
Execution Flag
Always OFF for LATCH command.
IW 09
Bit 1
Command Hold
Completed
Always OFF for LATCH command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during LATCH command operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.
IW 09
Bit 8
Command
Execution
Completed
Always OFF for LATCH command.
IW 0C
Bit 0
Discharging
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW 0C
Bit 1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is within the
Width of Positioning Completion. OFF in all other cases.
IW 0C
Bit 2
Latch Completed
Turns OFF when a new latch command is executed and turns ON when the latch has been
completed. The latched position is stored as the Machine Coordinate System Latch Position
(monitoring parameter IL
18).
IW 0C
Bit3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL
20).
OL 20 = 0:Turns ON when pulse distribution has been completed (DEN = ON). Other-
wise, it turns OFF.
OL 20 ≠ 0:Turns ON when the absolute value of the difference between MPOS
(IL 12) and APOS (IL 16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.