Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 71)

4 Motion Commands for Operation
4.2.2 Set Latch Mode (LTMOD_ON: 28H)
4-6
(3) Continuous Latch Mode
This function sequentially latches the input positions of sequence signal 1 to sequence signal n (n = 1 to 8) for
a specified number of times. The continuous latch operation can be aborted by executing the LTMOD_OFF
command. This function can shorten the time between latch completion and the start of the next latch, and
enables sequential latch operations at high speed.
„ 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.
Latches the sequence signal 1 input position.
Latches the sequence signal 2 input position. Repeats m times
Latches the sequence signal n input position.
..
Note 1: N, the number of sequence signals,
is specified by Pn850.
2: The signals for sequence signal n
are selected by Pn852 and Pn853.
3: The number of times of continuous
latching m is set by Pn851.