Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 118)

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