A-67
Appendicies
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
A-1 CiA402 Drive Profile
App
A-1-12 Servo Drive Profile Object
• This object sets and controls the latch function.
• There are two channels, Latch 1 (bits 1 to 7) and Latch 2 (bits 8 to 15).
• Bits 0 and 8 execute latching when changed from 0 to 1.
• To change the settings, set bit 0 or 8 to 0 and then to 1 again.
• Latching is disabled in the following cases.
When communications is in the Init state.
When the Statusword (6041 hex) bit 9 (remote) is 0 (local).
For details on the latch function, refer to 7-11 Touch Probe Function (Latch Function) on page 7-39.
Description of Settings
60B8 hex
Touch probe function (Latch function)
Range ï€ Unit ï€ Default 0 Attribute A
Size 2 bytes (U16) Access RW PDO map Possible
Bit Code Description
0 0 Latch 1 is disabled.
1 Latch 1 is enabled.
1 0 Trigger first event (Latch on the first trigger).
1 Continuous (Latch continuously on trigger input).
2 0 Latch on the signal selected in the Touch Probe Trigger
Selection (3758 hex).
1 Latch on the encoder's phase-Z signal.
3 to 7 0 Reserved (always set to 0).
8 0 Latch 2 is disabled.
1 Latch 2 is enabled.
9 0 Trigger first event (Latch on the first trigger).
1 Continuous (Latch continuously on trigger input).
10 0 Latch on the signal selected in the Touch Probe Trigger
Selection (3758 hex).
1 Latch on the encoder's phase-Z signal.
11 to 15 0 Reserved (always set to 0).
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