4.2 Main Commands
67
4.2.9 Start Synchronous Communication (SYNC_SET: 0DH)
Byte
SYNC_SET
Description
Command
Response
1
0DH
0DH
Processing clas-
sifications
Network com-
mand group
Synchronization
classifications
Asynchronous
2
−
ALARM
Processing time
Transmission
cycle or more
Subcommand
Cannot be used
3
STATUS
• Starts synchronous communications. Switches from phase 2 to phase
3.
• Synchronization is established as values of each WDT in command and
response is detected.
• During phase 3, the command will be ignored (without a warning).
• During Servo ON in phase 2, the SERVOPACK will change to Servo
OFF if this command is received.
• At the occurrence of the following alarms, this command must be trans-
mitted to restart synchronous communications.
-MECHATROLINK-
II
Synchronization Error (A.E50)
-MECHATROLINK-
II
Synchronization Failure (A.E51)
-MECHATROLINK-
II
Communications Error (A.E60)
-MECHATROLINK-
II
Transmission Cycle Error (A.E61)
• In the following case, a warning will occur and the command will be
ignored.
-During operation using CX-Drive: Command warning 1 (A.95A)
4
5
−
6
7
8
9
10
11
12
13
14
15
16
WDT
RWDT
TOEP_C710806_03A_1_0.book Seite 67 Montag, 2. Juli 2007 3:55 15
