Disconnection Command (Disconnect: 0Fh) - YASKAWA S-7 Series Command Manual

3.1.8

Disconnection Command (DISCONNECT: 0Fh)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
Command
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
All phases
Communication
cycle or greater,
and 5 seconds or
less
DISCONNECT
Response
0Fh 0Fh
Reserved Reserved

3.1.8 Disconnection Command (DISCONNECT: 0Fh)

Command Clas-
Common
sification command
Subcommand
Description
• When releasing a connection, the master station trans-
mits the DISCONNECT command for two or more com-
munication cycles. At this time, the slave station
interrupts current processing and then performs the ini-
tialization required to reestablish the connection. It then
waits for the connect establishment request from the
master station.
• The DISCONNECT command can be sent regardless of
the state of the CMD_STAT.CMDRDY bit. If the DIS-
CONNECT command is sent when the
CMD_STAT.CMDRDY state bit is 0, processing is inter-
rupted and this command is processed.
• Control with the command sending time of the master
station as two or more communication cycles.
• Upon receipt of this command, the following operation
is performed.
- Shifts the communication phase to phase 1.
- Establishes the servo OFF state.
- Disables reference point setting.
- Initializes the position data.
• When the control power is turned OFF at the same time
the DISCONNECT command is sent, the response data
is indefinite.
3.1 Common Commands
Asynchronous
command
Cannot be used
3
3-19