6 MECHATROLINK II Communications
6-2
6.3.27 Interpolation Feeding with Position Detection (LATCH: 38H) - - - - - - 6-33
6.3.28 External Input Positioning (EX_POSING: 39H) - - - - - - - - - - - - - - - 6-34
6.3.29 Homing (ZRET: 3AH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-36
6.3.30 Velocity Control (VELCTRL: 3CH) - - - - - - - - - - - - - - - - - - - - - - - -6-38
6.3.31 Torque Control (TRQCTRL: 3DH) - - - - - - - - - - - - - - - - - - - - - - - - -6-39
6.3.32 Adjusting (ADJ: 3EH) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-40
6.3.33 General-purpose Servo Control (SVCTRL: 3FH) - - - - - - - - - - - - - - 6-41
6.3.34 MECHATROLINK Connection (CONNECT: 0EH) - - - - - - - - - - - - - -6-43
6.4 Subcommands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
6.4.1 No Operation (NOP: 00H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44
6.4.2 Read Parameter (PRM_RD: 01H) - - - - - - - - - - - - - - - - - - - - - - - - -6-44
6.4.3 Write Parameter (PRM_WR: 02H) - - - - - - - - - - - - - - - - - - - - - - - - -6-45
6.4.4 Read Alarm or Warning (ALM_RD: 05H) - - - - - - - - - - - - - - - - - - - - - 6-45
6.4.5 Read Non-volatile Parameter (PPRM_RD: 1CH) - - - - - - - - - - - - - - -6-46
6.4.6 Write Non-volatile Parameter (PPRM_WR: 1CH) - - - - - - - - - - - - - - - 6-46
6.4.7 Request Latch Mode (LTMOD_ON: 28H) - - - - - - - - - - - - - - - - - - - -6-47
6.4.8 Release Latch Mode (LTMOD_OFF: 29H) - - - - - - - - - - - - - - - - - - - 6-47
6.4.9 Status Monitoring (SMON: 30H) - - - - - - - - - - - - - - - - - - - - - - - - - - -6-48
6.5 Command Data Field - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-49
6.5.1 Latch Signal Field Specifications: LT_SGN - - - - - - - - - - - - - - - - - - - 6-49
6.5.2 Option Field Specifications: OPTION - - - - - - - - - - - - - - - - - - - - - - -6-50
6.5.3 Status Field Specifications: STATUS - - - - - - - - - - - - - - - - - - - - - - - -6-51
6.5.4 Monitor Selection and Monitor Information Field Specifications:
SEL_MON1/2/3/4, MONITOR1/2/3/4 - - - - - - - - - - - - - - - - - - - - - - - -6-52
6.5.5 IO Monitor Field Specifications: IO_MON - - - - - - - - - - - - - - - - - - - -6-53
6.5.6 Substatus Field Specifications: SUBSTATUS - - - - - - - - - - - - - - - - - - 6-54
6.6 Command and Response Timing - - - - - - - - - - - - - - - - - - - 6-55
6.6.1 Command Data Execution Timing - - - - - - - - - - - - - - - - - - - - - - - - -6-55
6.6.2 Monitor Data Input Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-55
6.7 Operation Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56
6.7.1 Operation Sequence for Managing Parameters Using a Controller - - 6-56
6.7.2 Operation Sequence for Managing Parameters Using SERVOPACK - 6-57
6.7.3 Operation Sequence When Being Servo ON - - - - - - - - - - - - - - - - - -6-58
6.7.4 Operation Sequence When OT (Overtravel Limit Switch) Signal
Is Input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-58
6.7.5 Operation Sequence At Emergency Stop (Main Circuit OFF) - - - - - - 6-58
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