Latch Operation Sequence - YASKAWA E-V-SD Series User Manual

4 Feed Axis Operation

4.4.3 Latch Operation Sequence

4.4.3

Latch Operation Sequence

Latching
Monitoring latching
Canceling latching
Latch position monitoring
(1) Normal Latch Operation
(2) Latch Operation When Latching Is Not Completed
To read the latch position, set one of the monitor selection codes SVCMD_CTRL.SEL_MON1 through
SVCMD_CTRL.SEL_MON3 to the latch position monitor LPOS1 or LPOS2. Then, check to make sure that
the latch operation is finished (i.e., that SVCMD_STAT.L_CMP1 or SVCMD_STAT.L_CMP2 is 1) and then
read the latch position (LPOS1 or LPOS2) from the specified monitor.
Refer to 4.2 Monitor Data in the
III Standard Servo Profile Commands (Manual No.: SIEP S800000 76) for details on monitor selection.
(3) SVCMD_CTRL Bit Fields (Monitor Selection Fields)
4-14
Type/Operation
ON
LT_REQ
OFF
ON
L_CMP
OFF
ON
Latch signal
OFF
ON
LT_REQ
OFF
ON
L_CMP
OFF
ON
Latch signal
OFF
Σ
-V-SD AC Servo Drives
Bit 23 Bit 22 Bit 21
SEL_MON2
Bit 31 Bit 30 Bit 29
Reserved (0).
The latch operation begins when LT_REQ1 or LT_REQ2 changes to 1. The
latch operation ends on the specified latch signal input.
L_CMP1 and L_CMP2 are used to determine if the latch operation has finished.
The latch operation is cancelled when LT_REQ1 or LT_REQ2 changes to 0.
Use SVCMD_CTRL.SEL_MON1 through SVCMD_CTRL.SEL_MON3 to
read the latch position LPOS1 or LPOS2.
Σ
-V-SD Series User's Manual MECHATROLINK-
Bit 20 Bit 19
Bit 28 Bit 27
Latch Operation
Bit 18 Bit 17
SEL_MON1
Bit 26 Bit 25
SEL_MON3
Bit 16
Bit 24