![background image](http://html.mh-extra.com/html/yaskawa/japmc-mc2100/japmc-mc2100_user-manual_907066208.webp)
6.2 Motion Command Details
6.2.5 Interpolation Mode with Latch Input (LATCH)
6-43
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
* Latch signal: Phase-C pulse, /EXT1, /EXT2, or /EXT3 signal
[ b ] Execution when an Alarm Occurs
OW
08 = 6 (LATCH)
IW
08 = 6 (LATCH)
IW
09, bit 0 (BUSY)
Undefined length of time
IW
09, bit 3 (FAIL)
IW
0C, bit 0 (DEN)
1 scan
Latch signal *
IW
0C, bit 2 (LCOMP)
The target position is refreshed every high-speed scan.
This position is stored in IL
18.
IW
09, bit 8 (COMPLETE)
IW
0C, bit 1 (POSCOMP)
Alarm
Undefined length of time
IW
0C bit 1 (POSCOMP)
1 scan
OW
08 = 6 (LATCH)
IW
08 = 6 (LATCH)
IW
09 bit 0 (BUSY)
IW
09 bit 8 (COMPLETE)
IW
09 bit 3 (FAIL)
IW
0C bit 0 (DEN)