4 MECHATROLINK-II Communications
4.3.19 Request Latch Mode (LTMOD_ON: 28H)
4-26
4.3.19 Request Latch Mode (LTMOD_ON: 28H)
Related Parameters
Byte LTMOD_ON Description
Command Response
1 28H 28H Processing
classifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2 LT_SGN ALARM Processing time Within communi-
cations cycle
Subcommand Can be used.
3STATUS• Sets the modal latch mode. If a latch signal is input during modal latch mode,
position latching will be performed.
• Can be used during phases 2 and 3.
• A MECHATROLINK-II command warning (A.95) will occur and the com-
mand will be ignored in the following cases.
- During phase 1.
- If LTMOD_ON and LATCH, ZRET, EX_POSING, or SVCTRL are
executed simultaneously, or if LTMOD_ON is received during LATCH,
ZRET, EX_POSING, or SVCTRL execution (the LTMOD_ON command
will be ignored).
• A latch signal can be selected using LT_SGN. Refer to 4.5.1 Latch Signal
Field Specifications (LT_SGN).
• Use response command 28H, CMDRDY = 1 to confirm that the Request Latch
Mode command has been received.
• It takes 4 ms max. for the Request Latch Mode command to start.
• Confirm that L_CMP is 1 in STATUS at the completion of latching.
- When there is monitor data such as SMON or POSING appended to the
command response, LPOS is forcefully returned to MONITOR2.
- When there is no monitor data such as PRM_RD or ALM_RD appended to
the command response, confirm that L_CMP is 1 in STATUS, then use a
command that has monitor data such as SMON in the response and select
LPOS to confirm.
• Once the latch operation has been performed, it will not be performed again
even if a latch signal is input. Send a new LTMOD_ON command.
• Interference with another latch mode command
- If LATCH, ZRET, EX_POSING, or SVCTRL are received during modal
latch mode, the new command is enabled.
4
5 MONITOR1
6
7
8
9 MONITOR2
10
11
12
13 SEL_MON 1/2 SEL_MON 1/2
14 IO_MON
15
16 WDT RWDT
17 For
subcommands
use. Refer to
4.4 Subcom-
mands.
For
subcommands
use. Refer to
4.4 Subcom-
mands.
18
19
20
21
22
23
24
25
26
27
28
29
Pn No. Description
Pn511 Input Signal Selections 5
Pn820 Latching Area Upper Limit
Pn822 Latching Area Lower Limit
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