Optima DMC-1xxx and DMC-18x2 Command Reference
RL
i
166
RL
FUNCTION: Report Latched Position
DESCRIPTION:
The RL command will return the last position captured by the latch. The latch must first be
armed by the AL command and then a 0 must occur on the appropriate input. Each axis
uses a specific general input for the latch input:
X (A)
axis latch
Input
1
Y (B)
axis latch
Input
2
Z (C)
axis latch
Input
3
W (D)
axis latch
Input
4
E axis
latch
Input
9
F axis
latch
Input
10
G axis
latch
Input
11
H axis
latch
Input
12
The armed state of the latch can be configured using the CE command.
Note: The Latch Function works with the main encoder. When working with a stepper
motor without an encoder, the latch can be used to capture the stepper position. To
do this, place a wire from the controller Step (PWM) output into the main encoder
input, channel A+. Connect the Direction (sign) output into the channel B+ input.
Configure the main encoder for Step/Direction using the CE command. The latch
will now capture the stepper position based on the pulses generated by the controller.
ARGUMENTS: RL nnnnnnnnnn
where
n is X,Y,Z,W,A,B,C,D,E,F,G or H or any combination to specify the axis or axes
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
Position Format
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_RLn contains the latched position of the specified axis.
RELATED COMMAND:
"AL"
Arm Latch
EXAMPLES:
JG ,5000
Set up to jog the B-axis
BGB Begin
jog
ALB
Arm the B latch; assume that after about 2 seconds, input goes low
RLB Report
the
latch
10000
