3.1 Common Commands
3.1.6 Start Synchronous Communication Command (SYNC_SET: 0Dh)
3-16
3.1.6
Start Synchronous Communication Command (SYN-
C_SET: 0Dh)
Data Format
Phases in which the
Command can be Executed
2
Command
Classification
Common
command
Asynchronous
command
Processing Time
Communication
cycle or greater,
and 5 seconds or
less
Subcommand
Cannot be used
Byte
SYNC_SET
Description
Command
Response
0
0Dh
0Dh
•
The SYNC_SET command starts synchronous commu-
nication. The system will be in the synchronous commu-
nication mode (phase 3) when the execution of this
command is completed and watchdog data error
detection starts.
•
It can be used to return to synchronous communication
(phase 3), for example, when a shift has been made to
asynchronous communication (phase 2) as a result of a
communication error.
Synchronous communication is established by taking
the transition of the watchdog data (WDT) during the
execution of this command as the reference.
•
Maintains this command at the master station until pro-
cessing has been completed.
•
Confirm the completion of the command execution by
checking that RCMD = SYNC_SET (= 0Dh) and
CMD_STAT.CMDRDY = 1.
•
If the system is in communication phase 2, it will estab-
lish the servo OFF state and shift to communication
phase 3.
•
If the system is in communication phase 3, this com-
mand will be ignored and a normal response will be
returned.
•
If 8 or a higher COMM_ALM has occurred, the system
shifts to communication phase 2. In such a case, restart
synchronous communication by sending this command.
In the following case, an alarm will occur and the com-
mand will not be executed.
•
When editing using SigmaWin or a digital operator:
CMD_ALM = Ah (A.95A)
1
WDT
RWDT
2
CMD_CTRL
CMD_STAT
3
4
Reserved
Reserved
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31