4.3 Main Commands
4-47
4
Sub-control: SUBCTRL
Select Latch Signal: L_SGN
Select Motion: MOTION
Sequence Signals: SQ_CMD
D7 D6 D5 D4 D3 D2 D1 D0
RESERVE
0
MOTION
Select motion
RESERVE
0
SET_L
Latch
command
L_SGN
Select latch signal
D1 D0 Latch Signal
00
Phase C
01
EXT1
10
EXT2
11
EXT3
D6 D5 D4 Motion • During phase 1, a parameter setting
warning (A.94) will occur for POSING
and FEED, and the commands will be
ignored.
• For INTERPOLATE, in all other phases
except phase 3, a parameter setting
warning (A.94) will occur and the com-
mand will be ignored.
• A warning may not be given depending
on the sequence signal status.
000
HOLD
001
INTERPOLATE
010
FEED
011
POSING
D7 D6 D5 D4 D3 D2 D1 D0
RESERVE
0
ACLR
Alarm
clear
SEN
Sensor ON
BRK
Brake ON
SON
Servo ON
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