Omron CS1W-MCH71 -, Operation Manual

Page: 391 / 717

346
Command Details
Section 6-3
Note Both lower and upper limits indicate the lower and upper limits of each coordi-
nate system.
• The latch check operation is ended by one of the following operations:
1. LATCH command is executed as Latch check start position = Latch
check end position
2. END Command execution
• LATCH command execution will be completed when latch check operation
is started.
Caution • It may take 260ms max. (Latch startup time) until the MC Unit becomes
able to actually accept the latch signal after starting LATCH command.
Note For details, see Appendix A Performance Calculation Method for
the Counter Latch Startup Time on page 666.
• As shown below, it takes the following time periods until the MC Unit
becomes able to accept another LATCH command after completion of a
LATCH command:
• When Unit cycle: Communication cycle = 1: 1 6
×
Unit cycle
• When Unit cycle: Communication cycle = 2: 1 4
×
Unit cycle
• Do not restart the MC Unit, or restore power only to the MC unit (including
temporary power interruption) when the Unit is waiting for a latch signal
after executing LATCH command in which the latch check position has
been specified. When Latch check start/end positions are specified in
LATCH command, the motor parameters [900A: Latch range (+) No.] and
[900B: Latch range (
−
) No.] in the servo driver will be automatically
updated. Restarting the MC Unit or restoring power only to the MC unit
(including temporary power interruption) at this point will not bring back
the parameter settings before being updated. In addition, executing an
origin search, etc. using a latch signal under this condition may cause the
axis to operate in an unexpected way since the latch signal input outside
of the latch check range cannot be detected.
End position is omitted Accepting section: End position and before
Start position<End posi-
tion Accepting section: Start position and after, End position and before
Start position>End posi-
tion Accepting section: End position and before, Start position and after
Start position = End posi-
tion Ends latch check operation being executed
Specification Operation
Lower limit
End position
Upper limit
Lower limit Start position End position
Upper limit
Lower limit End position Start position Upper limit
Lower limit Upper limit