A-64
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
Latch mode cancellation (29H)[LTMOD_OFF]
Disable latching of position data caused by external input signal.
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : < Communication period
Time for releasing the latch mode: max. 250μs
Sub command : Available
Whether the command of LTMOD_OFF is received can be confirmed by the CMDRDY=1.
If the following warning appears, command will be ignored.
• When conflicting with other latch mode commands (EX_POSING, LATCH and ZRET) ("command alarm 4
(disturbance of commands)" alarms (95D))
ML_46 Special Optional monitor 1
0000H: Feedback speed 1
0001H: Command speed 1
0002H: Internal command torque1
0003H: Position deviation (Lower)
0004H: Position deviation (Upper)
000AH: Feedback pulse counter
(Lower)
000BH: Feedback pulse counter
(Upper)
0010H: Feedback speed 2
0011H: Command speed 2
0012H: Internal command torque2
0013H: Within 1Revolution position
0015H: Input signal monitor
0016H: Output signal monitor
0017H: Position command speed
0018H: Position deviation
0019H: Load ratio
001AH: Regenerative load ratio
001BH: DB resistance load ratio
001CH: Input command pulse counter
001DH: Feedback pulse counter
0023H: Initial multiturn data
0024H: Initial incremental puls
0080H: Previous value of LPOS
0000H
After
changing
ML_47 Special Optional monitor 2 0000H
Parameter
Categ
ory
Name Set value/setting unit Default
Enable
timing
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Command 03H 29H -
SEL_MON1/2
-WDT
Response 01H 29H
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
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