Start Synchronous Communication Command (Sync_Set: 0Dh) - YASKAWA S-7 Series Command Manual

3.1 Common Commands

3.1.6 Start Synchronous Communication Command (SYNC_SET: 0Dh)

3.1.6 Start Synchronous Communication Command (SYN-
C_SET: 0Dh)
Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-16
2
Communication
cycle or greater,
and 5 seconds or
less
SYNC_SET
Command Response
0Dh 0Dh
WDT RWDT
CMD_CTRL CMD_STAT
Reserved Reserved
Command
Common
command
Classification
Subcommand
Description
• The SYNC_SET command starts synchronous commu-
nication. The system will be in the synchronous commu-
nication mode (phase 3) when the execution of this
command is completed and watchdog data error
detection starts.
• It can be used to return to synchronous communication
(phase 3), for example, when a shift has been made to
asynchronous communication (phase 2) as a result of a
communication error.
Synchronous communication is established by taking
the transition of the watchdog data (WDT) during the
execution of this command as the reference.
• Maintains this command at the master station until pro-
cessing has been completed.
• Confirm the completion of the command execution by
checking that RCMD = SYNC_SET (= 0Dh) and
CMD_STAT.CMDRDY = 1.
• If the system is in communication phase 2, it will estab-
lish the servo OFF state and shift to communication
phase 3.
• If the system is in communication phase 3, this com-
mand will be ignored and a normal response will be
returned.
• If 8 or a higher COMM_ALM has occurred, the system
shifts to communication phase 2. In such a case, restart
synchronous communication by sending this command.
In the following case, an alarm will occur and the com-
mand will not be executed.
• When editing using SigmaWin or a digital operator:
CMD_ALM = Ah (A.95A)
Asynchronous
command
Cannot be used