A-68
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
Interpolation transfer of Position Detection Function (38H)[LATCH]
Execute the interpolation delivery and latch the position by implementing the specified latch signals during the course.
Available phase : Phase 3
Type of command : non-sync type
Reading cycle : < Communication period
Sub command : Available
VFF / TFF value is cleared when switching to other command.
When a latch signal is input, the input position will be saved to the feedback latch position (LPOS); Also,
the LPOS within a communication cycle will be forcibly returned to MONITOR2.
Whether the output of position command is finished or not can be confirmed by the DEN of STATUS.
If the following warning appears, command will be ignored.
• when the LATCH command is received beyond the Phase 3 ("command alarm 1(command
condition is not met)" (95A)).
• when the LATCH command is received at the moment of the servo being OFF ("command alarm 1 (command
condition is not met)" (95A)) .
• when the threshold is surpassed during the course from the target position (TPOS) to the current
position (IPOS) ("the data setting alarm 2 (beyond the range)" (94B))
• When the motor operation parameters are written to the KV-ML/MC setting tool (KV MOTION+), SV
series setting software or visiting window ("data setting alarm 1 (beyond data range)" (95A)).
* Processing time : Communication period
Latch delay time. Time from receiving the command to starting the latch: Max.250μs
Time from stopping the latch to sending a response: Max. a communication period
Byte 0 1 2 3 4 5 6 7 8 9
10 11 12 13 14 15 16
Command 03H 38H
LT_SGNL OPTION
TPOS VFF
SEL_MON1/2 TFF/TLIM
WDT
Response 01H 38H 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
Category
Name Set value/setting unit Default
Enable
timing
TUN_34 Special *Torque feedforward
1: Disable
2: Enable
1
When power is
ON again
ML_69 Special
*Pos ctrl cmd
TFF/TLIM
0: Disable
1: Enable
1
After changing
ML_21 Special P-Latching allowable area
-
2
31
~ 2
31
-
1 (CMD_PLS) 0
ML_22 Special N-Latching allowable area
-
2
31
~ 2
31
-
1 (CMD_PLS) 0
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