SetLatch Statement

Sets the latch function of the robot position using the R-I/O input.

Syntax
SetLatch { #portNumber, triggerMode, continuance latch times}

Parameters

portNumber

Specify the port number of the R-I/O input port to connect the trigger input signal.

The table below shows the port numbers you can specify. Specify the port number of the unit that the object robot is connected.

		Point	Port Number
Control Unit	INPUT	2 points	24, 25
Control Unit	OUTPUT	-	-
Drive Unit 1	INPUT	2 points	56, 57
Drive Unit 1	OUTPUT	-	-
Drive Unit 2	INPUT	2 points	280, 281
Drive Unit 2	OUTPUT	-	-

The following constants are defined as the port number.

Constant	Port Number
SETLATCH_PORT_CU_0	24
SETLATCH_PORT_CU_1	25
SETLATCH_PORT_DU1_0	56
SETLATCH_PORT_DU1_1	57
SETLATCH_PORT_DU2_0	280
SETLATCH_PORT_DU2_1	281

triggerMode

The trigger input signal logic to connect with the R-I/O. The logic can be specified with the following constants.

Constant	Value	Explanation
SETLATCH_TRIGGERMODE_TRAILINGEDGE	0	Negative logic
SETLATCH_TRIGGERMODE_LEADINGEDGE	1	Positive logic

With the negative logic, it latches the robot position at the switch edge from the input signal High to Low. With the positive logic, it latches the robot position at the switch edge from the input signal from Low to High.

continuance latch times

Specify the continuance latch times of robot position by R-I/O input signal. 1, 2, 3 and 4 is available. After LatchEnable On, point data can be latched for the specified number of continuance latches. Maximum is 4 times. Parameter can be omitted. When it’s omitted, it’s only 1 time of continuance latch.

Description
Sets the condition of the robot position latch using the R-I/O input signals. One robot cannot wait the trigger signals of several ports simultaneously. Executing SetLatch needs approx. 40 msec for processing.

Note

If you specify a port number of the unit unrelated to the selected robot, the error “I/O input/output bit number is out of available range” occurs.

See Also
LatchEnable, LatchState Function, LatchPos Function

SetLatch Statement Example

Function main
  SetLatch 24, SETLATCH_TRIGGERMODE_LEADINGEDGE, 4
' Positive logic continuance latch 4 times
  LatchEnable On    'Enable the latch function
  Go P1
  Wait LatchState = True     'Wait a trigger
  Print LatchPos(WithoutToolArm, 1)     'Display the latched position 1
  Print LatchPos(WithoutToolArm, 2)     'Display the latched position 2
  Print LatchPos(WithoutToolArm, 3)     'Display the latched position 3
  Print LatchPos(WithoutToolArm, 4)     'Display the latched position 4
  LatchEnable Off     ' Disable the latch function
Fend

Omitting parameter:

Function main
  SetLatch 24, SETLATCH_TRIGGERMODE_LEADINGEDGE    ' Positive logic
  LatchEnable On    'Enable the latch function
  Go P1
  Wait LatchState = True     'Wait a trigger
  Print LatchPos      Display the latched position
  LatchEnable Off     ' Disable the latch function
Fend

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