YASKAWA MECHATROLINK Sigma 2 Series - Release Latch Mode (LTMOD_OFF: 29 H)

4.3 Main Commands
4-27
4
4.3.20 Release Latch Mode (LTMOD_OFF: 29H)
Byte LTMOD_OFF Description
Command Response
1 29H 29H Processing
classifications
Control com-
mand group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Within communi-
cations cycle
Subcommand Can be used.
3STATUS• Releases the modal latch mode.
• 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_OFF and LATCH, ZRET, EX_POSING, or SVCTRL are
executed simultaneously, or if LTMOD_OFF is received during LATCH,
ZRET, EX_POSING, or SVCTRL execution (the LTMOD_OFF will be
ignored).
• Check that CMDRDY is 1 to confirm that the Release Latch Mode command
has been received.
- It takes 4 ms max. for the Release Latch Mode command to start.
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