YASKAWA MECHATROLINK Sigma 2 Series User Manual

4 MECHATROLINK-II Communications
4.3.34 MECHATROLINK Connection (CONNECT: 0EH)
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4.3.34 MECHATROLINK Connection (CONNECT: 0EH)
 Details of COM_MOD
Byte CONNECT 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 connection. Sets the communications mode
according to COM_MODE.
• VER: Version
Set VER to 10H (Ver. 1.0).
• Subcommand: Cannot be used.
COM_MOD: Communications mode. Refer to the following table.
• COM_TIM: Communications cycle [ms]
Set the multiple number of 2 [ms] in the range of 2 to 32 [ms].
2 [ms]
≤ COM_TIM ≤ 32 [ms]
• A command warning will occur and the command will be ignored in the fol-
lowing 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)
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 EXMOD
• EXMOD:
0: Standard connection
1: Extended connection
• SYNCMOD*:
0: Asynchronous communications (The SERVOPACK changes communication
to phase 2.)
1: Start synchronous communications (The SERVOPACK changes
communication to phase 3.)
* The SERVOPACK changes communication to phase 2 when EXMOD is set
to 1. The SERVOPACK changes communication to phase 3 after SYNC_SET
setting.
• DTMOD:
00,11: Single transfer
01: Consecutive transfer
10: Multiple transfers (not supported)
Phase 1
Phase 2
Phase 3
EXMOD=1,
SYNCMOD=1
SYNC_SET
Warning
SYNCMOD=1

YASKAWA MECHATROLINK Sigma 2 Series Specifications

General

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