4 MECHATROLINK-II Communications
4.3.33 General-purpose Servo Control (SVCTRL: 3FH)
4-46
4.3.33 General-purpose Servo Control (SVCTRL: 3FH)
Byte SVCTRL Description
Command Response
1 3FH 3FH Processing
classifications
Compound com-
mand group
Synchronization
classifications
Synchronous,
asynchronous
2 SUBCTRL ALARM Processing time Depends on pro-
cessing.
Subcommand Can be used.
3 OPTION STATUS • Latch Processing:
Supported. Select the latch signal using L_SGN in the SUBCTRL and set
SET_L to 1. When the selected latch signal is input, L_CMP in STATUS will
become 1. To perform latch processing again, set SET_L to 0 for one
communications cycle, then set SET_L again to 1. The latch signal cannot be
changed while SET_L is set to 1.
• Motion:
Any of the motions listed in the following table can be executed. Refer to
each motion item for operating specifications.
• Sequence Signals:
Any of the sequence signals listed in the following table can be executed.
Refer to each sequence item for operating specifications.
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- During phase 1: MECHATROLINK-II command warning (A.95)
- If the SERVOPACK is Servo OFF:
MECHATROLINK-II command warning (A.95)
- If LTMOD_ON/OFF is received during SVCTRL execution or
simultaneously: MECHATROLINK-II command warning (A.95)
(the LTMOD_ON/OFF commands will be ignored.)
• If SVCTRL command is received during modal latch mode, the new command
is enabled.
4
5 TPOS MONITOR1
6
7
8
9 TSPD MONITOR2
10 OR
11 VFF
12
13 SEL_MON 1/2 SEL_MON 1/2
14 SQ_CMD I/O_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
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20
21
22
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24
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