Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual

Page 105

5 Command Related Parameters

5.2.5 Position Data Latch Function Setting

5-16

[How to Start and Stop Continuous Latch Operation]

Set the following parameters, and then set LT_MOD to 1 to execute the LTMOD_ON command. The continu-

ous latch operation will start. To abort the operation, execute the LTMOD_OFF command.

Pn850: Latch Sequence Number n

Pn851: Continuous Latch Count m (When m = 0, the continuous latch operation will be infinitely repeated.)

Pn852: Latch Sequence Signal 1 to 4 Setting

Pn853: Larch Sequence Signal 5 to 8 Setting

Note: If the LTMOD_ON command is executed by setting Pn850 to 0 and LT_MOD to 1, the latch mode error warning

(A.94E) will occur and the latch operation will not start.

[Latch Status]

Latch completion can be confirmed by the following status.

[STATUS Field: The 3rd and 4th byte]

L_CMP (D10): L_CMP is set to 1 for one communications cycle every time the external signal is input.

[EX_STATUS Field: The 28th and 29th byte]

L_SEQ_NO (D8-D11): The latch sequence signal number (value n) at latch completion

L_CMP_CNT (D0-D7): The continuous latch count (value m)

(Added at completion of position latch when the latch sequence signal n is
input.)

Note: LPOS is forcibly output to MONITOR 2 for one communications cycle while L_CMP = 1 every time the external

signal is input.

[Operation Example]

An example of a continuous latch operation using two latch sequence signals EXT1 and EXT2 is illustrated

below. (The parameters are set as follows: Pn850 = 2, Pn851 = 2 or more, Pn852 = 0021H, Pn853 = any)

L_SEQ_NO

(EX_STATUS)

L_CMP_CNT

(EX_STATUS)

L_CMP

(STATUS)

EXT1 input signal

EXT2 input signal

L_POS

(Monitor)

Sends LTMOD_OFF

Time from LTMOD_ON
reception to latch
operation start

250

μs

Interval between
latch signals: 500

μs

Sends LTMOD_ON

Communications

cycle