206 ● RL DMC-40x0 Command Reference
RL
FUNCTION: Report Latched Position
DESCRIPTION:
The RL command will return the last position captured by the latch. The latch must first be armed
by the AL command and then a 0 must occur on the appropriate input. Each axis uses a
specific general input for the latch input:
X (A) axis latch Input 1
Y (B) axis latch Input 2
Z (C) axis latch Input 3
W (D) axis latch Input 4
E axis latch Input 9
F axis latch Input 10
G axis latch Input 11
H axis latch Input 12
The armed state of the latch can be configured using the CN command.
Note: The Latch Function works with the main encoder. When working with a stepper motor
without an encoder, the latch can be used to capture the stepper position. To do this,
place a wire from the controller Step (PWM) output into the main encoder input, channel
A+. Connect the Direction (sign) output into the channel B+ input. Configure the main
encoder for Step/Direction using the CE command. The latch will now capture the
stepper position based on the pulses generated by the controller.
ARGUMENTS: RL nnnnnnnnnn where
n is X,Y,Z,W,A,B,C,D,E,F,G or H or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format Position Format
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_RLn contains the latched position of the specified axis.
RELATED COMMAND:
AL Arm Latch
EXAMPLES:
JG ,5000 Set up to jog the B-axis
BGB Begin jog
ALB Arm the B latch; assume that after about 2 seconds, input goes low
RLB Report the latch
:10000
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