6.6 Latch Function
6.6.2 Setting the Latching Allowable Area
6
Function/Command Related Parameter
s
6-17
6.6.2
Setting the Latching Allowable Area
Use the following parameters to set the latching allowable area.
Latch signal input is enabled when the following two conditions are satisfied.
•
Within the latching allowable area set by Pn820 and Pn822
•
The LT_REQ1 and LT_REQ2 bits of the SVCMD_CTRL field is set to "1" (requesting latch-
ing).
*
*
For the MECHATROLINK-II compatible profile, the conditions are different.
The above conditions for enabling latch signal input are valid for the latch operation for any
command.
•
When Pn820 > Pn822
•
When Pn820
≤
Pn822
Parameter
Name
Data Size
(Byte)
Setting Range
Unit
Factory
Setting
Pn820
Forward Latching Area
4
–2147483648 to
2147483647
Reference
unit
0
Pn822
Reverse Latching Area
4
–2147483648 to
2147483647
Reference
unit
0
Pn822
Pn820
Latching allowable area
Pn820
Pn822
Latching allowable area
Latching allowable area
