Request Latch Mode (Ltmod_On: 28H) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.19 Request Latch Mode (LTMOD_ON: 28H)

4.3.19
Byte
Command
1 28H
2 LT_SGN
3
4
5
6
7
8
9
10
11
12
13 SEL_MON 1/2
14
15
16 WDT
17 For
subcommands
18
use. Refer to
19
4.4 Subcom-
mands.
20
21
22
23
24
25
26
27
28
29

Request Latch Mode (LTMOD_ON: 28H)

LTMOD_ON
Response
28H Processing
classifications
ALARM Processing time
STATUS
MONITOR1
MONITOR2
SEL_MON 1/2
IO_MON
RWDT
For
subcommands
use. Refer to
4.4 Subcom-
mands.
Related Parameters
Pn No.
Pn511
Pn820
Pn822
Control com-
mand group
Within communi-
cations cycle
• Sets the modal latch mode. If a latch signal is input during modal latch mode,
position latching will be performed.
• Can be used during phases 2 and 3.
• A MECHATROLINK-II command warning (A.95) will occur and the com-
mand will be ignored in the following cases.
- During phase 1.
- If LTMOD_ON and LATCH, ZRET, EX_POSING, or SVCTRL are
executed simultaneously, or if LTMOD_ON is received during LATCH,
ZRET, EX_POSING, or SVCTRL execution (the LTMOD_ON command
will be ignored).
• A latch signal can be selected using LT_SGN. Refer to 4.5.1 Latch Signal
Field Specifications (LT_SGN).
• Use response command 28H, CMDRDY = 1 to confirm that the Request Latch
Mode command has been received.
• It takes 4 ms max. for the Request Latch Mode command to start.
• Confirm that L_CMP is 1 in STATUS at the completion of latching.
- When there is monitor data such as SMON or POSING appended to the
command response, LPOS is forcefully returned to MONITOR2.
- When there is no monitor data such as PRM_RD or ALM_RD appended to
the command response, confirm that L_CMP is 1 in STATUS, then use a
command that has monitor data such as SMON in the response and select
LPOS to confirm.
• Once the latch operation has been performed, it will not be performed again
even if a latch signal is input. Send a new LTMOD_ON command.
• Interference with another latch mode command
- If LATCH, ZRET, EX_POSING, or SVCTRL are received during modal
latch mode, the new command is enabled.
Description
Input Signal Selections 5
Latching Area Upper Limit
Latching Area Lower Limit
4-26
Description
Synchronization
classifications
Subcommand
Asynchronous
Can be used.