Release Latch Mode (Ltmod_Off: 29H) - YASKAWA SGDS Sigma III Series User Manual

6 MECHATROLINK II Communications

6.3.20 Release Latch Mode (LTMOD_OFF: 29H)

6.3.20 Release Latch Mode (LTMOD_OFF: 29H)

Byte
Command
1 29H
2
3
4
5
6
7
8
9
10
11
12
13 SEL_MON 1/2
14
15
16 WDT
17 For
subcommands.
18
Refer to 6.4
19
Subcommands.
20
21
22
23
24
25
26
27
28
29
6-26
LTMOD_OFF
Response
29H Processing
classifications
ALARM Processing time
STATUS
• Releases the modal latch mode.
• Can be used during phases 2 and 3.
• During phase 1 Command warning 1(A.95A) will occur and the command
MONITOR1
will be ignored.
• Check that CMDRDY is 1 to confirm that the Release Latch Mode command
has been received.
- It takes 500 µs max. for the Release Latch Mode command to start.
MONITOR2
• Interference with another latch mode command
- During the execution of a command such as LATCH, ZRET, EX_POSING,
SEL_MON 1/2
IO_MON
RWDT
For
subcommands.
Refer to 6.4
Subcommands.
Description
Control com-
mand group
Within communi-
cations cycle
or SVCTRL, the LTMOD_ON command cannot be used. If this command is
used during the execution of these commands, the warning Command
warning 4 (A.95D) will occur.
Synchronization Asynchronous
classifications
Subcommand Can be used