4.2 Main Commands
83
4.2.27 Interpolation Feeding with Position Detection (LATCH: 38H)
Related Parameters
Byte LATCH Description
Command Response
138H 38H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Synchronous
2LT_SGN ALARM
Processing time Within commu-
nications cycle
Subcommand Can be used
3 OPTION STATUS • Performs interpolation feeding and latches the position using the latch
signal specified in LT-SGN.
• If the latch signal is input, the position when the signal is received is
recorded as the feedback latch position (LPOS) of the machine coordi-
nate system, and the LPOS will forcibly be indicated as the MONITOR2
for one communications cycle.
• Can be used during phase 3.
• A command warning will occur and the command will be ignored in the
following cases.
-During phase 2: Command warning 1 (A.95A)
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-If the output speed [the target position (TPOS) - the current position
(IPOS)] exceeds the maximum speed: Data setting warning 2 (A.94B)
• LT_SGN can be used. Refer to 4.5.1 Latch Signal Field Specifications:
LT_S G N (LT_SGN).
• OPTION field cannot be used. Set all bits to 0.
• Speed Feed Forward (VFF) cannot be used.
If a VFF is input, no compensation for speed feed forward will be
applied.
• Use DEN (output complete) to confirm the motion completion.
• For details on interpolation, refer to 6.5.1 INTERPOLATE Related Com-
mands.
4
5 TPOS MONITOR1
6
7
8
9 VFF MONITOR2
10
11
12
13 SEL_MON
1/2
SEL_MON
1/2
14 − IO_MON
15
16 WDT RWDT
17 For sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No. Description
Pn820 Latching Area Upper Limit
Pn822 Latching Area Lower Limit
TOEP_C710806_03A_1_0.book Seite 83 Montag, 2. Juli 2007 3:55 15
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