A-54
APPENDIX
A-5MECHATROLINK-II Communication Commands
- SV Series User’s Manual -
Disconnection request (0FH)[DISCONNECT]
TO cut off MECHATROLINK-II connection.
Available phase : all phases
Type of command : non-sync type
Reading cycle : > Communication period, < 5s
Sub command : Can't use
Once the DISCONNECT command is received, the following operation is performed.
• Phase 1 starts.
• Set to servo OFF status.
• Reference point is set to disable.
• Position information is initialized.
• Brake signal is ON.
• Alarm is not cleared even DISCONNECT is executed in alarming status.
• Parameters already set are written into flash memory and are also held.
• To connect again, the steps for power-on are repeated.
Read ID(03H)[ID_RD]
To read the ID of servo amplifier
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : <Communication period
Sub command : Available
If the following warning appears, command will be ignored.
• When the number set up in DEVICE_CODE is beyond the range ("data setting alarm 2 (beyond data range)"
(94B)) .
• When SIZE mismatch ("Data setting warning 4 (parameter size)" (94D))
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Command 03H 0FH - WDT
Response 01H 0FH ALARM STATUS - RWDT
Byte 0 1 2 3 4 5 6 7 8 9
10 11 12 13 14 15
16
Command 03H 03H -
DEVICE_CODE OFFSET
SIZE
-
WDT
Response 01H 03H
ALARM STATUS DEVICE_CODE OFFSET
SIZE
ID
RWDT
Byte 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Command Sub command field Can't use
Response Sub command field Can't use
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