4.2 Main Commands
69
4.2.11 Release Connection (DISCONNECT: 0FH)
4.2.12 Write Stored Parameter (PPRM_WR: 1CH)
Byte
DISCONNECT
Description
Command
Response
1
0FH
0FH
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
• Releases the MECHATROLINK-
II
connection. The SERVOPACK
changes communication to phase 1.
• Can be used during any phase.
• When this command is received, the following operations will be per-
formed.
-The SERVOPACK changes communication to phase 1.
-The SERVOPACK changes to Servo OFF.
-The reference point setting will become invalid.
-The position data will be initialized.
4
5
−
6
7
8
9
10
11
12
13
14
15
16
WDT
RWDT
Byte
PPRM_WR
Description
Command
Response
1
1CH
1CH
Processing clas-
sifications
Data communi-
cations com-
mand group
Synchronization
classifications
Asynchronous
2
−
ALARM
Processing time
Within 200 ms
Subcommand
Cannot be used
3
STATUS
• Saves a parameter in non-volatile memory. If a parameter is online
parameters, those parameters will become effective.
Offline parameters are enabled with the Set Up Device command (CON-
FIG) transmission communication after setting.
• Can be used during phases 2 and 3.
• A warning will occur and the command will be ignored in the
following cases.
-If parameters are changed mid-operation with CX-Drive: Command
warning 1 (A.95A)
-If NO is not within range: Data setting warning1 (A.94A)
-If SIZE does not match:Data setting warning 4 (A.94D)
-If PARAMETER is not within range: Data setting warning 2 (A.94B)
• For details on NO, SIZE and PARAMETER, refer to
7.2 List of Parame-
ters
.
4
5
NO
NO
6
7
SIZE
SIZE
8
PARAME-
TER
PARAME-
TER
9
10
11
12
13
14
15
16
WDT
RWDT
TOEP_C710806_03A_1_0.book Seite 69 Montag, 2. Juli 2007 3:55 15
