3.1 Common Commands
3.1.7 Establish Connection Command (CONNECT: 0Eh)
3
Main Command
s
3-17
3.1.7
Establish Connection Command (CONNECT: 0Eh)
Data Format
Phases in which the
Command can be Executed
1
Command
Classification
Common
command
Asynchronous
command
Processing Time
Communication
cycle or greater,
and 5 seconds or
less
Subcommand
Cannot be used
Byte
CONNECT
Description
Command
Response
0
0Eh
0Eh
•
The CONNECT command establishes a MECHA-
TROLINK connection. When the execution of this com-
mand has been completed, the control of slave stations
is started by means of MECHATROLINK communica-
tion.
•
Confirm the completion of the command execution by
checking that RCMD = CONNECT (= 0Eh) and
CMD_STAT.CMDRDY = 1, and also that the settings of
VER, COM_MODE, COM_TIME, and PROFILE_TYPE of
the response agree with the set data.
In the following cases, an alarm will occur and the system
will remain in communication phase 1.
•
When the VER data is invalid:
CMD_ALM = 9h (A.94B)
•
When the COM_TIM data is invalid:
CMD_ALM = 9h (A.94B)
•
When the PROFILE_TYPE data is invalid:
CMD_ALM = 9h (A.94B)
•
When the number of transmission bytes is 32
and SUBCMD = 1:
CMD_ALM=9h (A.94B)
•
While editing using SigmaWin or digital operator:
CMD_ALM = Ah (A.95A)
1
WDT
RWDT
2
CMD_CTRL
CMD_STAT
3
4
VER
VER
5
COM_MOD
COM_MOD
6
COM_TIM
COM_TIM
7
PROFILE_TYPE
PROFILE_TYPE
8
Reserved
Reserved
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31