6 set latch mode (ltmod_on: 28h), 6 set latch mode (ltmod_on: 28h) -5, 1) extension status field specifications – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual
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6.2 MECHATROLINK-II Subcommands Details
6-5
6
MECHA
TROLINK-
II
Subcommands
6.2.6 Set Latch Mode (LTMOD_ON: 28H)
(1) Extension Status Field Specifications
This field is used to monitor extension status.
The SMON, LTMOD_ON, and LTMOD_OFF subcommands can be used to enable monitoring.
• L_CMP_CNT (D0-D7)
This counter indicates how many times the latch sequence has been completed during continuous latch oper-
ation. It remains 0 during a normal latch operation.
• L_SEQ_NO (D8-D11)
This number indicates the number of latch sequence being completed during a continuous latch operation. It
remains 0 during a normal latch operation.
Byte
PPRM_WR
Description
Command
Response
17
28H
28H
• Enables the latch mode.
This command has the same function as the main command
LTMOD_ON.
18
LT_SGN
SUBSTATUS
19
SEL_MON3/4
SEL_MON3/4
20
LT_MOD
MONITOR3
21
22
23
24
MONITOR4
25
26
27
28
EX_STATUS
29
Byte
28
D7
D6
D5
D4
D3
D2
D1
D0
L_CMP_CNT
Byte
29
D15
D14
D13
D12
D11
D10
D9
D8
−
−
−
−
L_SEQ_NO