Oriental motor NETC01-M3, User Manual

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Details of command
−26−
Command parameter
• COM_MODE
The bit allocation is shown in the table below.
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
SUBCMD 0 0 0 DTMODE SYNCMODE 0
· SYNCMODE (Synchronous setting)
0: Asynchronous communication. Detecting the watchdog data error is disabled
and synchronous command cannot be used.)
1: Synchronous command (Not used in the
NETC01-M3
)
· DTMODE (Communication mode)
00b: Single transmission
01b: Consecutive transmission (Not used in the NETC01-M3 )
10b, 11b: Reserved
· SUBCMD (Subcommand setting)
0: Subcommand is disabled.
• COM_TIM
Sets a coefficient to calculate the communication cycle (natural number).
COM_TIME = Communication cycle / Transmission cycle
•
PROFILE_TYPE
Set "30h" since the
NETC01-M3
is the standard I/O profile.
9.7 Release connection command (DISCONNECT: 0Fh)
This command is used to release a connection of MECHATROLINK-
Ⅲ
communication.
When releasing a connection, the master station transmits the release connection command for two
or more communication cycles. The
NETC01-M3 interrupts the current processing and performs the
initialization required to reestablish the connection. Then, it waits for the connect establishment request
from the master station. The release connection command can be sent regardless of the state of the
CMD_STAT.CMDRDY. If the command is sent when the CMD_STAT.CMDRDY is equal to 0 (CMD_STAT.
CMDRDY = 0), the processing is interrupted and the release connection command is processed.
„
Data format
Byte
Command
(Master to NETC01-M3 )
Response
( NETC01-M3 to master)
0 DISCONNECT (0Fh) DISCONNECT (0Fh)
1 to 31 Reserved (0h) Reserved (0h)
„
Explanation of command
Device group Common command group
Communication type Asynchronous command
Completion of command
operation Controls the command transmitting time of the mater station as at least two
communication cycles.
Note
• This command can be used in all phases.
•
Upon receipt of this command, the following operation is performed.
· Shifts the phase to the phase 1.
· The DISCONNECT is sent to the RS-485 communication compatible product.