YASKAWA XTRAWARE - V3.0, Manual

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Command Reference
REGISTRATION_DISTANCE
Table explanation
Group Encoder Latching
Syntax REGISTRATION_DISTANCE <Distance>
Op. Code 151
Modes Program, Sequential
Motion
Mode Hunting (-1)
Description This command sets the <distance> from the
Latched_motor_position over which the motor must decelerate to
a stop.
Syntax
Arguments
Distance Sets the distance over which the motor must
decelerate to a stop.
[user position units]
Serial 4 V
Example Speed 300
LATCHING_TRIGGER Rising Edge
MOVE_H 5000
WAIT_VAR Latched_position_ready = 1
REGISTRATION_DISTANCE 100
Example
Explanation
Registration is enabled, setting the condition that input CN1-46
must change from 0 to 1 for registration to begin. The motor is
commanded to move 5000 user units. Once the latching condition
has been met, the registration begins, such that the motor will
move 100 user units before stopping.
Note 1. The command usually follows the command WAIT_VAR
Latched_position_ready = 1, as the variable
Latched_position_ready is set to 1 once the latching condition has
been met. (See
4.10.3.2, REGISTRATION_DISTANCE.
2. The variable Motion_status indicates whether the motion ended
as commanded by the REGISTRATION_DISTANCE command. (See
section
4.10.4.3, Motion_status.)
3. If the New_move_enable input is enabled, the execution of a
REGISTRATION_DISTANCE command will be delayed until the
input is received. If the original motion was triggered by this
input, the Override_new_move_enable may have to be set to
allow the REGISTRATION_DISTANCE command to be executed.
See Also LATCHING_TRIGGER, WAIT_VAR
Variables: Latched_motor_position, Latched_master_position,
Motion_Status, Latched_position_ready
146 XtraWare User Manual