24 ● AL DMC-40x0 Command Reference
AL
FUNCTION: Arm Latch
DESCRIPTION:
The AL command enables the latching function (high speed main or auxiliary position capture) of
the controller. When the position latch is armed, the main or auxiliary encoder position will
be captured upon a low going signal. Each axis has a position latch and can be activated
through the general inputs:
A axis latch Input 1
B axis latch Input 2
C axis latch Input 3
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 command RL returns the captured position for the specified axes. When interrogated the AL
command will return a 1 if the latch for that axis is armed or a zero after the latch has
occurred. The CN command can be used to change the polarity of the latch function.
ARGUMENTS: AL nnnnnnnn or AL n,n,n,n,n,n,n,n where
n can be A,B,C,D,E,F,G or H, specifying the main encoder for the axis to be latched
n can be SA,SB,SC,SD,SE,SF,SG or SH, specifying the auxiliary encoder.
n can be TA,TB,TC,TD,TE,TF,TG or TH, specifying the main encoder is latched from the index
pulse instead of a digital input.
USAGE: DEFAULTS:
While Moving Yes Default Value 0
In a Program Yes Default Format 1.0
Command Line Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_ALn contains the state of the specified latch. 0 = not armed, 1 = armed.
RELATED COMMANDS:
RL Report Latch
EXAMPLES:
#A ;'Program Label
ALB ;'Arm B-axis latch
JG,50000 ;'Set up jog at 50000 counts/sec
BGB ;'Begin the move
#LOOP ;'Loop until latch has occurred
JP #LOOP,_ALB=1
RLB ;'Transmit the latched position
EN ;'End of program
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