7
Motion Commands
7.2.5
Latch (LATCH)
7-42
[ b ] Monitoring Parameters
Parameter Name Monitor Contents
SVR
IB

001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
I

02
Warning
Stores the most current warning.
IL

04
Alarm
Stores the most current alarm.
IW

08
Servo Command
Type Response
Indicates any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
IB

090
Command
Executing
Always OFF for LATCH operation.
IB

091
Command Hold
Completed
Always OFF for LATCH operation.
IB

093
Command Error
End
Turns ON if an error occurs during LATCH operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.
IB

098
Command
Execution
Completed
Always OFF for LATCH operation.
IB

0C0
Distribution
Completed
Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB

0C1
Positioning
Completed
Turns ON when distribution has been completed and the current position is within the
Positioning Completed Width. OFF in all other cases.
IB

0C2
Latch Completed
This bit 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
Latch Position (monitoring parameter IL

18).
−
IB

0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL

20).
OL

20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL

20
â‰
0: Turns ON when the absolute value of the difference between MPOS
and APOS is less than the Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.
IL

18
Machine
Coordinate Latch
Position
Stores the current position in the machine coordinate system when the latch signal
turned ON.
−
R
R
R
R
R
R
R
R
R
R
R
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