2.4 Operation Sequence
2-9
MECHA
TROLINK-
III
Communications
2.4.3
Detailed Description of Commands Used in the Operation Sequence
This section describes the commands that are used during the operation sequence.
(1) DISCONNECT Command
Disconnecting the Previous Communications Connection
This process is not required if the operation sequence is being executed correctly.
If the host controller is reset while the SERVOPACK’s control power is turned ON, the SERVOPACK will
generate a communications error alarm and maintain the connection. To return to the normal state, clear the
alarm status and disconnect communications so that a communications connection can be established again.
Send the DISCONNECT command to enable connecting communications again.
Send the DISCONNECT command during step 3 of the operation sequence.
Disconnecting a Communications Connection
When execution of the Servo OFF Command (SV_OFF: 32 hex) has been completed, send the Disconnection
Command (DISCONNECT: 0F hex) to stop MECHATROLINK communications. Then, turn OFF the main
circuit power supply in this state.
(2) CONNECT Command
Send the Establish Connection Command (CONNECT: 0E hex) to establish a communications connection.
The command parameters are as follows: VER, COM_MOD, COM_TIM, and PROFILE_TYPE. Set these
parameters as required for the system.
Settings Example
VER = 30 hex: Standard servo profile
COM_MOD = 82 hex: Synchronized communications, single-phase communications, and sub-commands
enabled (48-byte specification for servo)
COM_TIM = 1: Generally set a 1:1 ratio between the transmission cycle and communications cycle
PROFILE_TYPE = 10 hex: Standard profile
If synchronized communications is enabled by the COM_MOD setting, use application software to detect
watchdog data errors during transmission cycle interrupts (INT1 signal interrupts).
Watchdog processing must be performed during transmission cycle interrupt processing.
Refer to
1.2.2 Watchdog Data (WDT/RWDT)
in the
MECHATROLINK-III Command Specifications for Stan-
dard Servo Profile
(Manual No.: MMA TDEP 021A)
and
2.2.2 Watchdog Data (WDT/RWDT)
in the
Σ
-V-SD
Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands
(Manual No.:
SIEP S800000 76) for details on watchdog processing.
(3) CONFIG Command
This command sets the device based on the parameters that have been written.
The CONFIG command enables the parameters that are set in the SERVOPACK.
The parameter for this command is CONFIG_MOD. Set this parameter as required for the system.
Example
CONFIG_MOD = 0 hex: Recalculate parameters and perform setup.
Note: If CONFIG_MOD is set to 2, all parameters in the SERVOPACK will be reset to their factory settings.