YASKAWA MECHATROLINK-4 JOHB-SMP3, Technical Manual, Page: 28 / 54

9 Main Commands
28 YASKAWA SIEP C730600 0NA MECHATROLINK-4 Technical Manual
SYNC_SET Command
Byte Command Description
7
・
・
63
SYNC_SET Response
Byte Response Description
0 SYNC_SET (0D (Hex.)) Command code
1 RWDT Watchdog data
2
CMD_STAT Refer to page 18 .
3
4
Reserved (0) Not used
5
6
7
・
・
63
◆
CONNECT: 0E (Hex.) (Establish Connection Command)
The CONNECT command establishes a MECHATROLINK connection. The phase moves to communication
phase 2 and 3 after the connection is established.
CONNECT Command
Byte Command Description
0 CONNECT (0E (Hex.)) Command code
1 WDT Watchdog data
2
CMD_CTRL Refer to page 18 .
3
4 VER Specify 40 (Hex.).
5 COM_MOD
Specify the Communication Mode (COM_MOD).
Refer to Table 9.5 for more information.
6 COM_TIM
1 - 255
Sets multiples of the transmission cycle as the communication cycle.
7 PROFILE_TYPE
Specify PROFILE_TYPE = 21 (Hex.).
8
Reserved (0) Not used
・
・
63
CONNECT Response
Byte Response Description
0 CONNECT (0E (Hex.)) Command code
1 RWDT Watchdog data
2
CMD_STAT Refer to page 18 .
3
4 VER The value set in the command.
5 COM_MOD The value set in the command.