Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 72)

4.2 Motion Commands Details
4-7
4
Motion Commands for Operation
„ Latched Position Data
The latest latched position data at completion of latching can be obtained by using the following monitor.
The previously latched position data can be obtained by using the following option monitor.
(4) LT_SGNL Specifications
• Applicable Commands:
LATCH, EX_POSING, ZRET, LTMOD_ON (when Pn850=0), SVCTRL
The latch signals can be specified in the following latch signal (LT_SGNL) field.
Note: The EXT2 and EXT3 cannot be used with DC power input Σ-V series SERVOPACKs (SGDV-†††E11).
(5) Related Parameters
The parameters related to latch operation are listed below.
Note 1. EXT1, EXT2, and EXT3 signals must be assigned as the input signals of CN1 by using the parameter Pn511. If
they are not assigned, the latch operation will be undefined.
2. If encoders without phase C (origin signal) and linear scales are used and the phase C is selected, the latch opera-
tion will be undefined.
Name Code Remarks
Feedback Latch Position LPOS The latest latch signal input position
Name Code
Option Monitor Selection
(Pn824 and Pn825)
Option Monitor 1 and 2 OMN1, 2 80H: Previous latch signal input position
D7 D6 D5 D4 D3 D2 D1 D0
0 0 0 0 0 0 LT_SGNL
D1 D0 Latch Signal Signal Details
0 0 Phase C Encoder origin signal
0 1 EXT1 External input signal 1
1 0 EXT2 External input signal 2
1 1 EXT3 External input signal 3
Parameter No. Name
Pn820 Forward Latching Allowable Area
Pn822 Reverse Latching Allowable Area
Pn850 Latch Sequence Number
Pn851 Continuous Latch Count
Pn852 and Pn853 Latch Sequence Signal Setting