Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 105)

5 Command Related Parameters
5.2.5 Position Data Latch Function Setting
5-16
[How to Start and Stop Continuous Latch Operation]
Set the following parameters, and then set LT_MOD to 1 to execute the LTMOD_ON command. The continu-
ous latch operation will start. To abort the operation, execute the LTMOD_OFF command.
Pn850: Latch Sequence Number n
Pn851: Continuous Latch Count m (When m = 0, the continuous latch operation will be infinitely repeated.)
Pn852: Latch Sequence Signal 1 to 4 Setting
Pn853: Larch Sequence Signal 5 to 8 Setting
Note: If the LTMOD_ON command is executed by setting Pn850 to 0 and LT_MOD to 1, the latch mode error warning
(A.94E) will occur and the latch operation will not start.
[Latch Status]
Latch completion can be confirmed by the following status.
[STATUS Field: The 3rd and 4th byte]
L_CMP (D10): L_CMP is set to 1 for one communications cycle every time the external signal is input.
[EX_STATUS Field: The 28th and 29th byte]
L_SEQ_NO (D8-D11): The latch sequence signal number (value n) at latch completion
L_CMP_CNT (D0-D7): The continuous latch count (value m)
(Added at completion of position latch when the latch sequence signal n is
input.)
Note: LPOS is forcibly output to MONITOR 2 for one communications cycle while L_CMP = 1 every time the external
signal is input.
[Operation Example]
An example of a continuous latch operation using two latch sequence signals EXT1 and EXT2 is illustrated
below. (The parameters are set as follows: Pn850 = 2, Pn851 = 2 or more, Pn852 = 0021H, Pn853 = any)
L_SEQ_NO
(EX_STATUS)
L_CMP_CNT
(EX_STATUS)
L_CMP
(STATUS)
EXT1 input signal
EXT2 input signal
L_POS
(Monitor)
0 1 2 0
Sends LTMOD_OFF
Time from LTMOD_ON
reception to latch
operation start
250 μs
Interval between
latch signals: 500
μs
0 1 2 1 2 0
Sends LTMOD_ON
Communications
cycle