YASKAWA SGDS Sigma III Series, User Manual

Page: 158 / 376

6.3 Main Commands
6-25
6.3.19 Request Latch Mode (LTMOD_ON: 28H)
• Related Parameters
Byte LTMOD_ON Description
Command Response
1 28H 28H Processing
classifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle Subcommand Can be used
3 STATUS • Sets the modal latch mode. If a latch signal is input during modal latch mode,
position latching will be performed.
• Can be used during phases 2 and 3.
• During phase 1 Command warning 1 (A.95A) will occur and the command
will be ignored..
• A latch signal can be selected using LT_SGN. Refer to 6.5.1 Latch Signal
Field Specifications (LT_SGN).
• Use CMDRDY = 1 to confirm that the Request Latch Mode command has
been received.
• It takes 500
µ
s max. for the Request Latch Mode command to start.
• Confirm that L_CMP is 1 in STATUS at the completion of latching.
- When there is monitor data such as SMON or POSING appended to the
command response, LPOS is forcefully returned to MONITOR2 for one
communication cycle.
- When there is no monitor data such as PRM_RD or ALM_RD appended to
the command response, confirm that L_CMP is 1 in STATUS, then use a
command that has monitor data such as SMON in the response and select
LPOS to confirm.
• Once the latch operation has been performed, it will not be performed again
even if a latch signal is input. Send a new LTMOD_ON command.
• Interference with another latch mode command
- During the execution of a command such as LATCH, ZRET, EX_POSING,
or SVCTRL, the LTMOD_ON command cannot be used. If this command is
used during the execution of these commands, the warning Command
warning 4 (A.95D) will occur.
4
5
MONITOR1
6
7
8
9
MONITOR2
10
11
12
13
SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16
WDT RWDT
17 For
subcommands.
Refer to
6.4
Subcommands .
For
subcommands.
Refer to
6.4
Subcommands .
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn511 Input Signal Selections 5
Pn820 Latching Area Upper Limit
Pn822 Latching Area Lower Limit