4.3 Main Commands
4-35
4
4.3.27
Interpolation Feeding with Position Detection (LATCH: 38H)
Byte
LATCH
Description
Command
Response
1
38H
38H
Processing
classifications
Motion command
group
Synchronization
classifications
Synchronous
2
LT_SGN
ALARM
Processing time
Within communi-
cations cycle
Subcommand
Can be used.
3
OPTION
STATUS
• Performs interpolation feeding and latches the position using the latch signal
simultaneously. Sends speed feedforward (VFF) simultaneously, too.
• If the latch signal is input, the position when the input is received is recorded
as the counter latch position (LPOS) and LPOS will be indicated as the
MONITOR2 forcibly for one communications cycle.
• Can be used during phases 2 and 3.
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- During phases other than phase 3:
MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MECHATROLINK-II command warning (A.95)
- If the output speed (difference from the previous target position
(TPOS)) exceeds the limit: Parameter setting warning (A.94)
- If VEF is not within the setting range:
Parameter setting warning (A.94)
- If LTMOD_-ON/OFF is received during LATCH execution or simul-
taneously: MECHATROLINK-II command warning (A.95)
(the LTMOD_ON/OFF commands will be ignored.)
• LT_SGN can be selected. Refer to
4.5.1 Latch Signal Field Specifications:
LT_SGN
(LT_SGN).
• OPTION can be selected. Refer to
4.5.2 Option Field Specifications:
OPTION
for details.
• Use DEN (output complete) to confirm the motion completion.
• It takes 4 ms max. for the Request Latch Mode command to start.
• If LATCH command is received during modal latch mode, the LACTH com-
mand is enabled.
4
5
TPOS
MONITOR1
6
7
8
9
VFF
MONITOR2
10
11
12
13
SEL_MON 1/2
SEL_MON 1/2
14
IO_MON
15
16
WDT
RWDT
17
For
subcommands
use. Refer to
4.4 Subcom-
mands
.
For
subcommands
use. Refer to
4.4 Subcom-
mands
.
18
19
20
21
22
23
24
25
26
27
28
29
