YASKAWA S-7 Series Command Manual page 84

3.1 Common Commands
3.1.7 Establish Connection Command (CONNECT: 0Eh)
Command Parameters
 VER: MECHATROLINK application layer version
For servo profile: VER = 30h
 COM_MOD: Communication mode
SUBCMD
• SYNCMODE: Synchronization setting
1: Performs synchronous communication.
(Watchdog data error detection enabled. Synchronous communication commands can be
used.)
0: Performs asynchronous communication.
(Watchdog data error detection disabled. Synchronous communication commands cannot be
used.)
• DTMODE: Data transfer method
00: Single transmission
01: Consecutive transmission
10: Reserved
11: Reserved
• SUBCMD: Subcommand setting
0: Subcommand disabled
1: Subcommand enabled
 COM_TIM: Communication cycle setting
Sets the number by which to multiply the transmission cycle to get the communications cycle.
The setting range is 1 to 255.
The setting must meet the following conditions.
• Σ-7S SERVOPACKs
0.125 [ms] ≤ Transmission cycle [ms] × COM_TIME ≤ 32 [ms]
• Σ-7W SERVOPACKs
0.25 [ms] ≤ Transmission cycle [ms] × COM_TIME ≤ 32 [ms]
Example
 PROFILE_TYPE: Profile type setting
Sets the profile type to be used.
PROFILE_TYPE = 10h (Standard servo profile)
3-18
bit7 bit6 bit5
0
If you use a communications cycle of 2 ms for a transmission cycle of 0.5 ms,
COM_TIME will be 4 (2/0.5).
bit4 bit3
0 0
bit2 bit1
DTMODE SYNCMODE
bit0
0