YASKAWA SGDS Sigma III Series, User Manual

Page: 174 / 376

6.3 Main Commands
6-41
6.3.33 General-purpose Servo Control (SVCTRL: 3FH)
• Sub-control: SUBCTRL
Select Latch Signal: LT_SGN
Byte SVCTRL Description
Command Response
1 3FH 3FH Processing
classifications
Compound com-
mand group
Synchronization
classifications
Synchronous,
asynchronous
2 SUBCTRL ALARM Processing time Depends on pro-
cessing Subcommand Can be used
3 OPTION STATUS • This command is compatible with MECHATROLINK versions before Ver 1.0.
It is used to perform the general-purpose servo control.
• Latch Processing:
Supported. Select the latch signal using L_SGN in the SUBCTRL and set
SET_L to 1. When the selected latch signal is input, L_CMP in STATUS will
become 1. Perform latch processing again after the SET_L command is set to
0. The latch signal cannot be changed while SET_L is set to 1.
• Motion:
Any of the motions listed in the following table can be executed. Refer to
each motion item for operating specifications.
• Sequence Signals:
Any of the sequence signals listed in the following table can be executed.
Refer to each sequence item for operating specifications.
• During phase 1; Command warning 1 (A.95A). A command warning will
occur and the command will be ignored in the following cases.
4
5
TPOS MONITOR1
6
7
8
9
TSPD MONITOR2
10 OR
11 VFF
12
13
SEL_MON 1/2 SEL_MON 1/2
14 SQ_CMD I/O_MON
15
16
WDT RWDT
17 For
subcommands
use. Refer to
6.4
Subcommands
.
For
subcommands
use. Refer to
6.4
Subcommands
.
18
19
20
21
22
23
24
25
26
27
28
29
D7 D6 D5 D4 D3 D2 D1 D0
RESERVE
0
MOTION
Select motion
RESERVE
0
SET_L
Latch
command
L_SGN
Select latch signal
D1 D0 Latch Signal
0 0
Phase C
0 1
EXT1
1 0
EXT2
1 1
EXT3