YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications
4.3.9 MECHATROLINK-II Connection (CONNECT: 0EH)
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4.3.9 MECHATROLINK-II Connection (CONNECT: 0EH)
 Details of COM_MOD
Byte
Byte
CONNECT Description
Description
Command Response
1 0EH 0EH Processing
classifications
Network com-
mand group
Synchronization
classifications
Asynchronous
2 ALARM Processing time Communications
cycle or more
Subcommand Cannot be used.
3STATUS• 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]
(Set the multiple number of 1 [ms].)
• A warning will occur and the command will be ignored in the following cases.
- If COM_MOD is not within range: Parameter setting warning (A.94)
- If COM_TIM is not within range: Parameter setting warning (A.94)
- If the transmission bytes is 17, and SUBCMD is 1: Parameter setting
warning (A.94)
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 0 0 0 DTMOD SYNCMOD 0
• SYNCMOD*:
0: Asynchronous communication
(The SERVOPACK changes communication to phase 2.)
1: Synchronous communication
(The SERVOPACK changes communication to phase 3.)
∗
Set SYNC_SET when the SERVOPACK changes communication to phase 3.
• DTMOD: Data transfer method
00, 11: Single transfer
01: Consecutive transfer
10: Multiple transfers (not supported)
• SUBCMD:
0: Subcommand not used
1: Subcommand used
Phase 1
Phase 2
Phase 3
SYNCMOD=0
SYNC_SET
Warning/alarm
SYNCMOD=1

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

Brand	YASKAWA
Model	MECHATROLINK Sigma 2 Series
Category	Control Unit
Language	English