YASKAWA XTRAWARE - V3.0, Manual

Page: 81 / 263

Operating the XtraDrive Using XtraWare
4.10.1. Latching Workflow
The registration process is described below. Detailed instructions for the use
of the commands and variables are provided in the sections that follow.
♦ Define a condition for latching using the LATCHING_TRIGGER
command. Possible conditions are:
ƒ
Input 6 (connected at CN1-46) changes from 0 to 1 (Rising Edge).
ƒ
Input 6 (connected at CN1-46) changes from 1 to 0 (Falling Edge).
♦ Start motion:
ƒ
The registration process can be applied in the following motion
modes: Position, Velocity, Hunting, Pulse-Train, Analog Speed. See
section
5.3, Motion Modes.
♦ After 62.5ms of the condition being met:
ƒ
The variable Latched_position_ready changes from 0 to 1.
ƒ
The variable Latched_motor_position is set to the current position of
the motor, in position user units.
ƒ
The variable Latched_master_position is set to the current position of
the master (if in use), in encoder counts.
♦ Perform the next step only once the Latched_position_ready variable
has changed from 0 to 1.
ƒ
Use the command WAIT_VAR <Latched_position_ready> or assign an
interrupt conditional on this variable.
♦ Define the distance from where the input is received to where the motor
must stop using the REGISTRATION_DISTANCE command.
ƒ
The deceleration caused by registration is defined by the variable
Profile_acceleration. When specifying the registration distance, ensure
that it is sufficiently long for the motor to be able to decelerate to a
stop at the profile acceleration.
♦ The motor decelerates to a stop.
ƒ
Under certain circumstances, the motor will not stop at the point
command by REGISTRATION_DISTANCE. See 4.10.2,
Troubleshooting.
XtraWare User Manual 71