Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 156)

6.3 Main Commands
6-25
6.3.19 Request Latch Mode (LTMOD_ON: 28H)
• Related Parameters
Byte LTMOD_ON Description
Command Response
1 28H 28H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 STATUS • 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.
• During phase 1 Command warning 1 (A.95A) will occur and the command
will be ignored..
• A latch signal can be selected using LT_SGN. Refer to 6.5.1 Latch Signal
Field Specifications (LT_SGN).
• Use CMDRDY = 1 to confirm that the Request Latch Mode command has
been received.
• It takes 500 µs 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 for one
communication cycle.
- 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
- During the execution of a command such as LATCH, ZRET, EX_POSING,
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.
4
5
MONITOR1
6
7
8
9
MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands.
Refer to 6.4
Subcommands. For
subcommands.
Refer to 6.4
Subcommands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn511 Input Signal Selections 5
Pn820 Latching Area Upper Limit
Pn822 Latching Area Lower Limit