YASKAWA MECHATROLINK Sigma 2 Series - Start Synchronous Communications (SYNC_SET: 0 DH)

4.3 Main Commands
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4.3.8 Start Synchronous Communications (SYNC_SET: 0DH)
Byte SYNC_SET Description
Command Response
1 0DH 0DH Processing
classifications
Network com-
mand group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Transmission
cycle or more
Subcommand Cannot be used.
3STATUS• Starts synchronous communications. Switches from phase 2 to phase 3.
• Processing is completed at the WDT changing edge.
However, if WDT errors are being masked by parameter Pn800.0, processing
is completed when this command is received.
• During phase 1, a MECHATROLINK-II command warning (A.95) will occur
and the command will be ignored.
• During phase 3, the command will be ignored (without a warning).
• The SERVOPACK will change to Servo OFF if this command is received
when the SERVOPACK is Servo ON during phase 2.
• The synchronous communications have to be restarted using this command
when the MECHATROLINK-II communications error (A.E6) or the
MECHATROLINK-II synchronization error (A.E5) occurs.
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16 WDT RWDT