Yaskawa JAPMC-MC2300 - Manual (Page 315)

11.4 Other Utility Functions
11.4.1 Modal Latch Function
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Utility Functions
11.4 Other Utility Functions
11.4.1 Modal Latch Function
The Modal Latch function can be executed to latch a position independently from the motion command being executed
as long as the motion command being executed is not a motion command with latch function such as EX_POSING,
ZRET, and LATCH.
If a motion command with latch function, such as EX_POSING, ZRET, and LATCH, is executed while the modal latch
function is being executed, the motion command has priority over the modal latch function, therefore, the motion
command will be executed first.
Latch Request
A latch request is sent at the moment the Latch Detection Demand bit (setting parameter OW 00, bit 4) turns ON
from OFF.
When the latch is completed, the Latch Completed bit (monitoring parameter IW
0C, bit 2) will turn ON.
The latched position will be written in the monitoring parameter IL 18 Machine Coordinate System Latch Position.
Cancelling Latch Request
Set the Latch Detection Demand bit (setting parameter OW 00, bit 4) to OFF to cancel the latch request.
Signals Used for Latch
DI_5, DI_2, and Phase-C signals can be used as a latch signal. Use the setting parameter Latch Detection Signal Selec-
tion (OW
04, bits 0 to 3) to select a signal to be used as a latch signal.
Related Parameters
The following table lists the related parameters.
Parameter Type Parameter No. Parameter Name Description
Setting parameter
OW 00, bit 4 Latch Detection Demand
Executed when the bit 4 turns ON from
OFF.
Cancelled when the bit 4 turns OFF
from ON.
OW 04, bits 0 to 3
Latch Detection Signal
Selection
0: DI_5 (DEC/EXIT)
1: DI_2 (ZERO/HOME LS)
2: Phase-C pulse input signal
Monitoring parameter
IW 0C, bit 2 Latch Completed –
IL 18
Machine Coordinate
System Latch Position
1 = 1 reference unit
OW 00, bit 4
Latch Detection Demand
t 2: 2 scans
t 1 : Communication cycle
Latch signal
t 3 : SERVOPACK preparation tim
latch processing (≤4 ms)
IW 0C, bit 2
Latch Completed
∗ T ≥ t1 + t
2 + t 3 where T: Latch processing time
∗ T