Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 73)

4 Motion Commands for Operation
4.2.3 Release Latch Mode (LTMOD_OFF: 29H)
4-8
4.2.3 Release Latch Mode (LTMOD_OFF: 29H)
(1) LTMOD_OFF Command (29H)
The LTMOD_OFF command is used to release the latch mode.
Byte
LTMOD_OFF
Description
Command Response
1 29H 29H
Phases in
which the
command can
be executed
Phase 2 and 3
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Within commu-
nications cycle
Subcommand Can be used
3
STATUS
• Check that CMDRDY is 1 to confirm that this command has been
received.
• It takes 250 μs max. to release the latch mode.
• This command cannot be used while LATCH, ZRET, EX_POSING, or
SVCTRL command is being executed.
If used, the command warning 4 (A.95D) will occur.
4
5
MONITOR1
6
7
8
9
MONITOR2
10
11
12
13 SEL_MON1/2 SEL_MON1/2
14
IO_MON
15
16 WDT RWDT
17
Subcommand
area
Subcommand
area
18
19
20
21
22
23
24
25
26
27
28
29