2.5 Command Header Section
2.5.4 Supplementary Information on Latching Operation
2
Command Format
2-21
2.5.4
Supplementary Information on Latching Operation
The latch operation is enabled at the leading edge of LT_REQ1 and LT_REQ2. The operations
to be performed when commands are changed after enabling the latch operation are specified
in the table below.
(The value of LT_SEL is an example.)
Note: 1. Commands with a latch function: EX_FEED, EX_POSING, ZRET
Commands without a latch function: POS_SET, BRK_ON, BRK_OFF, SENS_ON, SENS_OFF, SMON, SV_ON,
SV_OFF, INTERPOLATE, POSING, FEED, VELCTRL, TRQCTRL, SVPRM_RD,
SVPRM_WR
Common commands: NOP, ID_RD, CONFIG, ALM_RD, ALM_CLR, SYNC_SET, CONNECT, DISCONNECT,
MEM_RD, MEM_WR
2. LT_SEL: LT_SEL1 or LT_SEL2
LT_REQ: LT_REQ1 or LT_REQ2
Command before
Switching
Command after
Switching
Latch Operation
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Common commands
Continues the latch request before switching.
Command with a latch
function
LT_SEL = 1
LT_REQ = 1
Common commands
Interrupts operation as a command with a latch func-
tion.
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Continues the latch request before switching.
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Command without a
latch function
LT_SEL = 2
LT_REQ = 1
Continues the latch request before switching.
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Command with a latch
function
LT_SEL = 1
LT_REQ = 1
Switches to a latch request for the command after
switching.
The servo drive executes another latch request. (Internal
processing)
If the status "L_CMP = 1" is established before com-
mand switching, then the status is set to "L_CMP = 0"
at command switching.
Command with a latch
function
LT_SEL = 1
LT_REQ = 1
Command without a
latch function
LT_SEL = 1
LT_REQ = 1
Switches to a latch request for the command after
switching.
The servo drive executes another latch request. (Internal
processing)
If the status "L_CMP = 1" is established before com-
mand switching, then the status is set to "L_CMP = 0"
at command switching.
Command with a latch
function
LT_SEL = 1
LT_REQ = 1
Command with a latch
function
LT_SEL = 1
LT_REQ = 1
Switches to a latch request for the command after
switching.
The servo drive executes another latch request. (Internal
processing)
If the status "L_CMP = 1" is established before com-
mand switching, then the status is set to "L_CMP = 0"
at command switching.