4.2 Main Commands
68
4.2.10 Establish Connection (CONNECT: 0EH)
Details of COM_MOD
Byte CONNECT Description
Command Response
10EH 0EH
Processing clas-
sifications
Network com-
mand group
Synchronization
classifications
Asynchronous
2 − ALARM
Processing time Communica-
tions cycle or
more
Subcommand Cannot be used
3 STATUS • Establishes a MECHATROLINK-II connection. Sets the communications
mode according to COM_MOD.
• VER: Version
• Set VER to 21H (Ver. 2.1).
• COM_MOD: Communications mode. Refer to the following table.
• COM_TIM: Communications cycle
Set the multiple number of transmission cycle in the range of 1 to 32.
1 [ms] ≤ transmission cycle [ms] × COM_TIM ≤ 32 [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
response.
4
5 VER VER
6 COM_MOD COM_MOD
7COM_TIMCOM_TIM
8 −−
9
10
11
12
13
14
15
16 WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
SUBCMD −−− DTMOD SYNCMOD −
• 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.
Phase 1
Phase 2
Phase 3
SYNCMOD=0
SYNC_SET
Warning/alarm
SYNCMOD=1
TOEP_C710806_03A_1_0.book Seite 68 Montag, 2. Juli 2007 3:55 15
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