Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 140)

B General-purpose Servo Control Command
A-5
App
Appendix
Select Motion (MOTION)
Select Latch Signal (L_SGN)
• Sequence Signals: SQ_CMD
• Combination of SVCTRL (3F) and Subcommands
Note: √: Can be combined, ×: Can not be combined
D6 D5 D4 Motion
• During phase 1, Command warning 1 (A.95A)
will occur for POSING and FEED, and the com-
mand will be ignored.
• For INTERPOLATED, in all other phases except
phase 3, Command warning 1 (A.95A) will occur
and the command will be ignored.
0 0 0 HOLD
0 0 1 INTERPOLATE
0 1 0 FEED
0 1 1 POSING
D1 D0 Latch Signal Meaning
0 0 Phase C Encoder zero-point signal
0 1 EXT1 External latch signal 1
1 0 EXT2 External latch signal 2
1 1 EXT3 External latch signal 2
D7 D6 D5 D4 D3 D2 D1 D0
Reserved Reserved Reserved Reserved
ACLR
Alarm clear
SEN
Sensor ON
BRK
Brake ON
SON
Servo ON
CODE Main Command
Subcommand
NOP PRM_WR ALM_RD
PPRM_
WR
LTMOD_
ON
LTMOD_
OFF
SMON
3F SVCTRL √ √ √ √ × √ √