YASKAWA MP Series User Manual

11.4 Modal Latch Function
11-17
Utility Functions
11.4 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 Complete 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
(LPOS).
 Canceling Latch Request
Set the Latch Detection Demand (setting parameter OW00, bit 4) to OFF to cancel the latch request.
 Signals Used for Latch
The phase-C pulse, or /EXT1, /EXT2 or /EXT3 signals can be used as a latch signal. Use the setting parameter Latch
Detection Signal Selection (OW

04, bits 0 to 3) to select the signal to be used as a latch signal.
 Parameters Related to Modal Latch Function
The following table shows the parameters related to the Modal Latch function.
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.
Canceled when the bit 4 turns OFF
from ON.
OW04, bits 0 to 3
Latch Detection Signal
Selection
2: Phase-C pulse
3: /EXT1
4: /EXT2
5: /EXT3
Monitoring parameter
IW0C, bit 2
Latch Completed −
IL18
Machine Coordinate
System Latch Position
(LPOS)
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 time for
latch processing (҇4 ms㧕
IW0C, bit 2
Latch Completed
∗
T ҈ t
1
+ t
2
+ t
3 ޓwhere ޓ
T: Latch processing time
∗
T

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English