4.2 Main Commands
83
4.2.27 Interpolation Feeding with Position Detection (LATCH: 38H)
Related Parameters
Byte
LATCH
Description
Command
Response
1
38H
38H
Processing clas-
sifications
Motion com-
mand group
Synchronization
classifications
Synchronous
2
LT_SGN
ALARM
Processing time
Within commu-
nications cycle
Subcommand
Can be used
3
OPTION
STATUS
• Performs interpolation feeding and latches the position using the latch
signal specified in LT-SGN.
• If the latch signal is input, the position when the signal is received is
recorded as the feedback latch position (LPOS) of the machine coordi-
nate system, and the LPOS will forcibly be indicated as the MONITOR2
for one communications cycle.
• Can be used during phase 3.
• A command warning will occur and the command will be ignored in the
following cases.
-During phase 2: Command warning 1 (A.95A)
-If the SERVOPACK is Servo OFF: Command warning 1 (A.95A)
-If the output speed [the target position (TPOS) - the current position
(IPOS)] exceeds the maximum speed: Data setting warning 2 (A.94B)
• LT_SGN can be used. Refer to
4.5.1 Latch Signal Field Specifications:
LT_SGN
(LT_SGN).
• OPTION field cannot be used. Set all bits to 0.
• Speed Feed Forward (VFF) cannot be used.
If a VFF is input, no compensation for speed feed forward will be
applied.
• Use DEN (output complete) to confirm the motion completion.
• For details on interpolation, refer to
6.5.1 INTERPOLATE Related Com-
mands
.
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 sub-
commands.
For sub-
commands.
18
19
20
21
22
23
24
25
26
27
28
29
Parameter No.
Description
Pn820
Latching Area Upper Limit
Pn822
Latching Area Lower Limit
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