YASKAWA MECHATROLINK Sigma 2 Series User Manual page 91

Sub-control: SUBCTRL
D7 D6 D5
RESERVE MOTION
0 Select motion
Select Latch Signal: L_SGN
D1
0
0
1
1
Select Motion: MOTION
D6 D5 D4
0 0 0
0 0 1
0 1 0
0 1 1
Sequence Signals: SQ_CMD
D7 D6 D5
RESERVE
0
D4 D3
RESERVE
0
D0
0
Phase C
1
EXT1
0
EXT2
1
EXT3
Motion • During phase 1, a parameter setting
warning (A.94) will occur for POSING
HOLD
and FEED, and the commands will be
ignored.
INTERPOLATE • For INTERPOLATE, in all other phases
except phase 3, a parameter setting
warning (A.94) will occur and the com-
FEED
mand will be ignored.
• A warning may not be given depending
on the sequence signal status.
POSING
D4 D3
ACLR
Alarm Sensor ON
clear
4-47
4.3 Main Commands
D2 D1 D0
SET_L L_SGN
Latch Select latch signal
command
Latch Signal
D2 D1 D0
SEN BRK SON
Brake ON Servo ON
4