A-63
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
■Relevant parameters
Latch mode request (28H)[LTMOD_ON]
Enable latching of position data caused by external input signal.
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : Processing time : < Communication period
Time from receiving the command to starting the latch: max. 250μs
Time from finishing latch to sending a response: max. 1 communication cycle
Sub command : Available
Whether the latch is finished can be confirmed by the L_CMP=1 of STATUS.
Whether the command of LTMOD_ON is received can be confirmed by the CMDRDY=1.
If the response is monitored (SMON, POSING etc), the LPOS within one communication cycle is forcibly
returned to the MONITOR2.
If the response is not monitored (PRM_RD, ALM_RD etc), then check to ensure L_CMP=1 in STATUS
before executing a commend whose response is monitored. Then select and confirm LPOS.
If the following warning appears, command will be ignored.
• LT_MOD=1 and the "Latch signal number" (ML_32)=0;
• disturbing other latchingcommands (EX_POSING, LATCH, ZRET and SUBCTRL);
■Relevant parameters
Parameter
Category
Name Set value/setting unit Default Enable timing
ML_10 Special 1st deceleration rate 1 1 to 65535 (10000CMD_PLS/s
2
) 100
After changing
ML_11 Special
2nd deceleration rate 1
1 to 65535 (10000CMD_PLS/s
2
) 100
ML_23 Special
Deceleration constant 1
1 to 65535 (10000CMD_PLS/s
2
) 100
ML_28 Special 1st deceleration rate 2 1 to 20971520 (10000CMD_PLS/s
2
) 100
ML_29 Special
2nd deceleration rate 2
1 to 20971520 (10000CMD_PLS/s
2
) 100
ML_31 Special
Deceleration constant 2
1 to 20971520 (10000CMD_PLS/s
2
) 100
Byte 0 1 2 3 4 5 6 7 8 9
10 11 12
13
14 15
16
Command 03H 28H
LT_SGNL
-
LT_MOD
-
SEL_MON1/2
-WDT
Response 01H 28H
ALARM STATUS
MONITOR1 MONITOR2
SEL_MON1/2 IO_MON
RWDT
Byte 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Command Sub command field Can't use
Response Sub command field Can't use
Parameter
Categ
ory
Name Set value/setting unit Default
Enable
timing
ML_32 Special Latch signal number 0: 8 0
After
changing
ML_33 Special Continuous latch count 0: 255 0
ML_34 Special Latch signal 1
0: Z phase
1: EXT1
2: EXT2
3: EXT3
0
ML_35 Special Latch signal 2 0
ML_36 Special Latch signal 3 0
ML_37 Special Latch signal 4 0
ML_38 Special Latch signal 5 0
ML_39 Special Latch signal 6 0
ML_40 Special Latch signal 7 0
ML_41 Special Latch signal 8 0
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