YASKAWA SVC - Page 190

4.2 Motion Command Details
4.2.5 LATCH (Latch)
4
Motion Control Program Commands and Instructions
4-47
5.
Set OW08 to 0 to execute the NOP motion command.
This concludes interpolation positioning.
Operating Patterns
The following figure shows the operating pattern when the LATCH command is executed.
Holding and Canceling Commands
The axis stops if there is no change in the target position each high-speed scan.
Bit 0 (Hold Command) and bit 1 (Cancel Command) in the OW09 setting parameter can-
not be used to stop the axis.
Change the motion command to stop an interpolation operation.
Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
Register
Address
Name Setting Details
OW
00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW08 to 6 (LATCH).
0: Servo OFF, 1: Servo ON
OW
02
Bit 8 to F
Stop Mode Selec-
tion
Select the stop method to use when a command is canceled.
0: Stop according to the Linear Deceleration Rate/Deceleration Time
Constant parameter
1: Stop immediately
OW
03 Function Settings 1 Select the speed unit, acceleration/deceleration unit, and filter type.
OW04
Bit 0 to 3
Latch Signal Selec-
tion
Select the latch signal.
OW
08 Motion Commands Positioning is started when this parameter is set to 6 (LATCH).
OW
09
Bit 5
Position Reference
Typ e
Set the position reference type.
Set this bit before setting OW08 to 6 (LATCH).
0: Incremental value addition method
1: Absolute value specification method
OL
0C
Torque/Force Refer-
ence Setting or
Torque Feedfor-
ward Compensation
Set the torque feedforward amount during interpolation positioning.
OW
12 Speed Limit
Set the upper speed limit as a percentage of the rated speed. This value
is an absolute value. It is used in both the forward and reverse direc-
tions.
OL
14 Torque/Force Limit Set the torque limit for interpolation positioning.
OL
1C
Position Reference
Setting
Set the target position for positioning. This parameter is updated every
high-speed scan.
Continued on next page.
0
POSCOMP
Speed (%)
This position is reported in
IL18.
Position
Time (t)
Latch signal
Positioning completed
range