YASKAWA VIPA IM 053ML Manual page 79

VIPA System SLIO
4.9.4.8 Release connection command DISCONNECT (0Fh)
Data format
Byte Command
0 DISCONNECT (0Fh)
1 ... 63 Reserved (0)
4.9.4.9 Read memory content command MEM_RD (1Dh)
HB300 | IM | 053-1ML00 | en | 18-42
COM_TIM: Communication cycle setting
Value Reference
0 Sets multiples of the transmission cycle as the communication cycle.
Example: The transmission cycle is 0.5 ms and the communication cycle is 2 ms,
then COM_TIM = 4 (2/0.5 = 4)
n PROFILE_TYPE: Profile type setting
Sets the profile type to be used.
– 00h: ID Information Acquisition Profile
– 30h: Standard I/O profile
When terminating a communication connection, the C1 master station transmits the DIS-
CONNECT command for two or more communication cycles. At this time, the slave sta-
tion interrupts current processing and then performs the initialization required to reestab-
lish the connection. It then waits for the connect establishment request from the C1
master station. The DISCONNECT command can be sent regardless of the state of the
CMD_STAT.CMDRDY bit. If the DISCONNECT command is sent when the
CMD_STAT.CMDRDY state bit is 0, processing is interrupted and this command is pro-
cessed.
Confirmation of completion
n Control with the command sending time of the C1 master station as two or more com-
munication cycles.
Command classification
n Device group: Common command group
Communication type: Asynchronous communication command
n
Response
DISCONNECT (0Fh)
Reserved (0)
The MEM_RD command is used to read the data on the virtual memory by specifying the
starting address and the data size of the virtual memory. If the reading is not successfully
completed due to an incorrect designation, such as invalid starting address or data size, a
warning will be created. When a warning is detected, the warning bit and warning code
are set in the response. The ADDRESS and SIZE in the response are the values speci-
fied in the command, whether or not the reading has been completed.
tual memory' page 57
MECHATROLINK-III specification > Command detail
Reference
n Can be used in all phases.
cation' page 65
n Upon receipt of the DISCONNECT command, operation shifts to
phase 1.
n When the control power is turned OFF at the same time the DIS-
CONNECT command is sent, the response data is indefinite.
Deployment
Ä Chap. 4.9.1 'Phases of the communi-
Ä Chap. 4.7 'Vir-
79