Establish Connection Command (Connect: 0Eh) - YASKAWA S-7 Series Command Manual

3.1.7

Establish Connection Command (CONNECT: 0Eh)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
0
1
2
CMD_CTRL
3
4
5 COM_MOD
6
7 PROFILE_TYPE
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
1
Communication
cycle or greater,
and 5 seconds or
less
CONNECT
Response
0Eh 0Eh
WDT RWDT
CMD_STAT
VER VER
COM_MOD
COM_TIM COM_TIM
PROFILE_TYPE
Reserved Reserved

3.1.7 Establish Connection Command (CONNECT: 0Eh)

Command
Common
Classification command
Subcommand
Description
• The CONNECT command establishes a MECHA-
TROLINK connection. When the execution of this com-
mand has been completed, the control of slave stations
is started by means of MECHATROLINK communica-
tion.
• Confirm the completion of the command execution by
checking that RCMD = CONNECT (= 0Eh) and
CMD_STAT.CMDRDY = 1, and also that the settings of
VER, COM_MODE, COM_TIME, and PROFILE_TYPE of
the response agree with the set data.
In the following cases, an alarm will occur and the system
will remain in communication phase 1.
• When the VER data is invalid:
CMD_ALM = 9h (A.94B)
• When the COM_TIM data is invalid:
CMD_ALM = 9h (A.94B)
• When the PROFILE_TYPE data is invalid:
CMD_ALM = 9h (A.94B)
• When the number of transmission bytes is 32
and SUBCMD = 1:
CMD_ALM=9h (A.94B)
• While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
3.1 Common Commands
Asynchronous
command
Cannot be used
3
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