YASKAWA MP2000 Series - Page 208

6.2 Motion Command Details
6.2.5 Interpolation Mode with Latch Input (LATCH)
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Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signal
[ b ] Execution when an Alarm Occurs
OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IW09, bit 0 (BUSY)
Undefined length of time
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
1 scan
Latch signal *
IW0C, bit 2 (LCOMP)
The target position is refreshed every high-speed scan.
This position is stored in IL18.
IW09, bit 8 (COMPLETE)
IW0C, bit 1 (POSCOMP)
Alarm
Undefined length of time
IW0C bit 1 (POSCOMP)
1 scan
OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IW09 bit 0 (BUSY)
IW09 bit 8 (COMPLETE)
IW09 bit 3 (FAIL)
IW0C bit 0 (DEN)