4 Feed Axis Operation
4.4.3 Latch Operation Sequence
4-14
4.4.3
Latch Operation Sequence
(1) Normal Latch Operation
(2) Latch Operation When Latching Is Not Completed
To read the latch position, set one of the monitor selection codes SVCMD_CTRL.SEL_MON1 through
SVCMD_CTRL.SEL_MON3 to the latch position monitor LPOS1 or LPOS2. Then, check to make sure that
the latch operation is finished (i.e., that SVCMD_STAT.L_CMP1 or SVCMD_STAT.L_CMP2 is 1) and then
read the latch position (LPOS1 or LPOS2) from the specified monitor.
Refer to
4.2 Monitor Data
in the
Σ
-V-SD AC Servo Drives
Σ
-V-SD Series User’s Manual MECHATROLINK-
III Standard Servo Profile Commands
(Manual No.: SIEP S800000 76) for details on monitor selection.
(3) SVCMD_CTRL Bit Fields (Monitor Selection Fields)
Type/Operation
Latch Operation
Latching
The latch operation begins when LT_REQ1 or LT_REQ2 changes to 1. The
latch operation ends on the specified latch signal input.
Monitoring latching
L_CMP1 and L_CMP2 are used to determine if the latch operation has finished.
Canceling latching
The latch operation is cancelled when LT_REQ1 or LT_REQ2 changes to 0.
Latch position monitoring
Use SVCMD_CTRL.SEL_MON1 through SVCMD_CTRL.SEL_MON3 to
read the latch position LPOS1 or LPOS2.
LT_REQ
L_CMP
ON
OFF
ON
OFF
ON
OFF
Latch signal
LT_REQ
L_CMP
ON
OFF
ON
OFF
ON
OFF
Latch signal
Bit 23
Bit 22
Bit 21
Bit 20
Bit 19
Bit 18
Bit 17
Bit 16
SEL_MON2
SEL_MON1
Bit 31
Bit 30
Bit 29
Bit 28
Bit 27
Bit 26
Bit 25
Bit 24
Reserved (0).
SEL_MON3