Establish Connection (Connect: 0Eh) - Omron SJDE-ANA-OY Manual

4.2 Main Commands

4.2.10 Establish Connection (CONNECT: 0EH)

Byte CONNECT
Command
1 0EH
2
3
4
5 VER
6 COM_MOD
7 COM_TIM
8
9
10
11
12
13
14
15
16 WDT
Details of COM_MOD
D7 D6
SUBCMD
• SYNCMOD:
0: Asynchronous communication (Transition to phase 2)
1: Synchronous communication (Transition to phase 3)
• DTMOD: Data transfer method
00, 11: Single transfer
01: Consecutive transfer
• SUBCMD:
0: Subcommand not used
1: Subcommand used
• Set the 0 in the other bits.
Response
0EH Processing clas-
sifications
ALARM Processing time
STATUS • Establishes a MECHATROLINK-II connection. Sets the communications
mode according to COM_MOD.
• VER: Version
VER
• Set VER to 21H (Ver. 2.1).
• COM_MOD: Communications mode. Refer to the following table.
COM_MOD
• COM_TIM: Communications cycle
COM_TIM
Set the multiple number of transmission cycle in the range of 1 to 32.
1 [ms] transmission cycle [ms]
• A warning will occur and the command will be ignored in the following
cases.
-If COM_MOD is not within range: Data setting warning 2 (A.94B)
-If COM_TIM is not within range: Data setting warning 2 (A.94B)
-If the transmission bytes is 17, and SUBCMD is 1: Data setting warn-
ing 2 (A.94B)
-If VER is not equal to 21H in the MECHATROLINK communications
mode: Data setting warning 2 (A.94B)
-During operation using CX-Drive: Command warning 1 (A.95A)
• The only commands that will be accepted are CONNECT, DISCON-
NECT, and NOP. If any other command is issued, NOP will be sent as a
RWDT
response.
D5 D4
Description
Network com- Synchronization
mand group classifications
Communica- Subcommand
tions cycle or
more
COM_TIM 32 [ms]
D3 D2
DTMOD
Warning/alarm
Phase 1
Phase 2
Phase 3
68
Asynchronous
Cannot be used
D1 D0
SYNCMOD
SYNCMOD=0
SYNCMOD=1
SYNC_SET