Omron SJDE-ANA-OY Manual page 61

Descriptions
The communication state of the C master station in each phase is explained.
Phase 0
When the C1 master and slave stations are turned ON, operation switches to phase 1.
Phase 1
The C1 master station completes the internal initialization including the communication system, and con-
firms the response state of all the connected slave stations that have no error. Then, the C1 master sta-
tion sends a CONNECT command to all the connected slave stations to establish communication.
The slave station completes the internal initialization including the communication system, and then
awaits the CONNECT command.
The slave station establishes the communication with the C1 master station and then switches to the
phase specified by command.
Phase 2 (Asynchronous Communication Phase)
The C1 master station uses only asynchronous commands supported by MECHATROLINK-II-compatible
devices to exchange data needed for the operation and control of the devices. The timing for the execu-
tion of each command is controlled by the C1 master station.
The slave stations exchange data and the control of devices by the commands sent from the C1 master
station. The transition to phase 3 or phase 4 is performed by commands from the C1 master station to the
slave stations.
Phase 3 (Synchronous Communication Phase)
The C1 master station can use all commands supported by MECHATROLINK-II-compatible devices to
exchange data needed for the operation and control of devices. Each command is updated in a constant
cycle (communication cycle) and its timing for the execution is controlled by the C1 master station.
The slave stations exchange data and the control of devices by the commands sent from the C1 master
station. If there are any errors in communication synchronization, the slave station automatically switches
to phase 2. Synchronous communication is started again by sending SYNC_SET command from the C1
master station.
Phase 4
If the C1 master station is turned OFF, the C1 master station sends a DISCONNECT command to all
slave stations. The DISCONNECT command is also sent to any slave stations involved if there is a need
to change the system configuration.
When the slave station receives the DISCONNECT command from the C1 master station, they execute
the reinitialization processing and then shift to connection wait state (phase 1).
Phase 5
When the C1 master and slave stations are turned OFF, they switch to phase 5. The following two state
changes depend on which station is turned OFF first.
• C1 Master Station Turned OFF First
The C1 master station sends the DISCONNECT command to all slave stations before turning OFF the
power supply (Recommended Sequence).
A slave station receiving this command executes the reinitialization processing and then switches to
connection wait state (phase 1).
When the DISCONNECT command has not been sent, or has not been received by the slave station,
the slave station detects a communication error and shifts to an alarm state.
• Slave Station Turned OFF First
After the C1 master station sends the DISCONNECT command to the slave station to be turned OFF,
the power supply of the slave station is turned OFF (Recommended Sequence).
The slave station receiving the command executes the necessary initialization processing and then
switches to connection wait state (phase 1).
If a slave station is turned OFF without using the above procedure, the C1 master station detects a
communication error.
The operations in alarm state and recovery from alarm state depend on the specifications of the device
or application.
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4.2 Main Commands