Connect: 0E (Hex.) (Connect) - YASKAWA MECHATROLINK-II SI-T3 Technical Manual

8 MECHATROLINK-II Commands
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CONNECT: 0E (Hex.) (Connect)

Byte
1
2
3, 4
5
6
7
8 - 15
16
The CONNECT command establishes a MECHATROLINK connection. The phase moves to communication
phase 2 and 3 after the connection is established.
If a transfer fault is detected after moving to phase 2 or phase 3, notification is given of the fault. In phase 1, no
notification is given even if a transfer fault is detected. Set VER (version) to 21 (Hex.) (Ver. 2.1) for
MECHATROLINK-II, and to 10 (Hex.) (Ver. 1.0) for MECHATROLINK-I.
The communications mode is set by the COM_MOD. For details on the settings, refer to the following
description.
MECHATROLINK-II (VER: 21 (Hex.))
COM_MOD
Bit7 Bit6
SUBCMD 0
SUBCMD
DTMOD
SYNCMOD
Note:
If Bit6, Bit5, Bit4, or Bit0 is set to 1, a warning will be generated (Data setting warning: A.94).
COM_TIM
Set the factor of the transmission cycle to COM_TIM (communications time) so that the setting range satisfies the
following formulas.
• When the transmission cycle is equal to the communications time (COM_TIM = 1):
– 32-byte data transmission
1 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is set to a fractional value, a warning (Data setting warning: A.94) is generated.
– 17-byte data transmission
0.5 [ms] ≤ transmission cycle [ms] ≤ 8 [ms]
If the transmission cycle is not set to a multiple of 0.5 ms, such as 0.75, a warning (Data setting warning:
A.94) is generated.
• When the transmission cycle is not equal to the communications time (COM_TIM ≠ 1):
A warning (Data setting warning: A.94) is generated.
MECHATROLINK-I (VER: 10 (Hex.))
COM_MOD
Bit7 Bit6
0 0
DTMOD
SYNCMOD
30
Command
CONNECT
0
VER
COM_MOD
COM_TIM
0
WDT
Bit5 Bit4
0
Sub-command setting
Communication Mode
Transmission Synchronization
Bit5 Bit4
0
Communication Mode
Transmission Synchronization
Bit3
0 DTMOD
0 Sub-command not used
1 Sub-command used
00 Single data transfer mode
0 Move to phase 2
1 Move to phase 3
Bit3
0 DTMOD
00 Single data transfer mode
0 Move to phase 2 (Asynchronous communications status)
1 Move to phase 3 (Synchronous communications status)
YASKAWA SIEP C730600 86F MECHATROLINK-II Technical Manual
Response
CONNECT
ALARM
STATUS
VER
COM_MOD
COM_TIM
0
RWDT
Bit2 Bit1
SYNCMOD
Bit2 Bit1
SYNCMOD
Bit0
0
Bit0
EXMOD