6.3 Main Commands
6-33
6.3.27 Interpolation Feeding with Position Detection (LATCH: 38H)
• Related Parameters
Byte LATCH Description
Command Response
1 38H 38H Processing
classifications
Motion command
group
Synchronization
classifications
Synchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle
Subcommand Can be used
3OPTIONSTATUS
• Performs interpolation feeding and latches the position using the
latch signal
specified in LT-SGN.
Sends speed feedforward (VFF, unit [reference unit/
sec]) simultaneously, too.
• If the latch signal is input, the position when the signal is received is recorded
as
the feedback latch position (LPOS) of the machine coordinate system,
and
the LPOS will forcibly be indicated as the MONITOR2 for one
communications cycle.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the
following cases.
- During phases other than phase 3: Command warning 1 (A.95A)
- If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
- If the output speed (difference from the previous target position
(TPOS)) exceeds the limit: Data setting warning 2 (A.94B)
• LT_SGN can be used. Refer to 6.5.1 Latch Signal Field Specifications:
LT_SGN (LT_SGN).
• OPTION field can be used. Refer to 6.5.2 Option Field Specifications:
OPTION for details.
• Use DEN (output complete) to confirm the motion completion.
• It takes 500 µs max. for the Request Latch Mode command to start.
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
subcommands.
Refer to 6.4
Subcommands.
For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn511 Input Signal Selections 5
Pn820 Latching Area Upper Limit
Pn822 Latching Area Lower Limit
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