Mechatrolink Connection (Connect: 0Eh) - YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications

4.3.34 MECHATROLINK Connection (CONNECT: 0EH)

4.3.34
Byte
Command
1 0EH
2
3
4
5 VER
6 COM_MOD
7 COM_TIM
8
9
10
11
12
13
14
15
16 WDT
D7 D6
SUBCMD 0
• EXMOD:
0: Standard connection
1: Extended connection
• SYNCMOD*:
0: Asynchronous communications (The SERVOPACK changes communication
to phase 2.)
1: Start synchronous communications (The SERVOPACK changes
communication to phase 3.)
* The SERVOPACK changes communication to phase 2 when EXMOD is set
to 1. The SERVOPACK changes communication to phase 3 after SYNC_SET
setting.
• DTMOD:
00,11: Single transfer
01: Consecutive transfer
10: Multiple transfers (not supported)

MECHATROLINK Connection (CONNECT: 0EH)

CONNECT
Response
0EH Processing
classifications
ALARM Processing time
STATUS
VER
COM_MOD
COM_TIM
RWDT
Details of COM_MOD
D5
0
Network com-
mand group
Communications
cycle or more
• Establishes a MECHATROLINK connection. Sets the communications mode
according to COM_MODE.
• VER: Version
Set VER to 10H (Ver. 1.0).
• Subcommand: Cannot be used.
COM_MOD: Communications mode. Refer to the following table.
• COM_TIM: Communications cycle [ms]
Set the multiple number of 2 [ms] in the range of 2 to 32 [ms].
≤ ≤
2 [ms] COM_TIM 32 [ms]
• A command warning will occur and the command will be ignored in the fol-
lowing cases.
- If COM_MOD is not within range: Parameter setting warning (A.94)
- If COM_TIM is not within range: Parameter setting warning (A.94)
D4 D3
0 DTMOD
4-48
Description
Synchronization
classifications
Subcommand
D2 D1
SYNCMOD
Warning
Phase 1
EXMOD=1,
SYNCMOD=1
Phase 2
SYNC_SET
Phase 3
Asynchronous
Cannot be used.
D0
EXMOD
SYNCMOD=1