4.2 Main Commands
68
4.2.10 Establish Connection (CONNECT: 0EH)
Details of COM_MOD
Byte
CONNECT
Description
Command
Response
1
0EH
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
7
COM_TIM
COM_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
