Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 157)

6 MECHATROLINK II Communications
6.3.20 Release Latch Mode (LTMOD_OFF: 29H)
6-26
6.3.20 Release Latch Mode (LTMOD_OFF: 29H)
Byte LTMOD_OFF Description
Command Response
1 29H 29H Processing
classifications Control com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 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
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.
• 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