A-61
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
Sync request (0DH)[SYNC_SET]
To synchronize communication and switch form Phase 2 to Phase 3.
Available phase : Phase 2 and Phase 3
Type of command : non-sync type
Reading cycle : > Communication period, < 5s
Sub command : Can't use
Sync is achieved through changes (edges) of WDT.However, if the WDT exception is ignored in the
"MECHATROLINK communication check mask", such sync shall be stopped as soon as the command is
received.
If the SYNC_SET is used at Phase 3, the demand is ignored and response is made.
If the SYNC_SET is used when servo is ON at Phase 2, this switches to Servo OFF.
When the following alarms appear, the command of SYNC_SET shall be sent out and thus the sync
communication begins again.
• "ML-II sync abnormity" alarm (E50)
• "ML-II sync abnormity" alarm (E51)
• "ML-II communication abnormity (receive error)" alarm(E60)
• "transmission period abnormity (sync interval abnormal) alarm (E61)
Coordinate system setting (20H)[POS_SET]
To set up position coordinate.
Available phase : all phases
Type of command : non-sync type
Reading cycle : < Communication period
Sub command : Can't use
If the following warning appears, command will be ignored.
• When the No. beyond range are set up in PS_SUBCMD ("data setting alarm 2 (beyond the range)" (94B)).
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Command 03H 0DH - WDT
Response 01H 0DH ALARM STATUS - RWDT
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Command 03H 20H -
PS_SUBCMD
POS_DATA - WDT
Response 01H 20H
ALARM STATUS PS_SUBCMD
POS_DATA - RWDT
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