3.1 Common Commands
3.1.7 Establish Connection Command (CONNECT: 0Eh)
3-18
Command Parameters
VER: MECHATROLINK application layer version
For servo profile: VER = 30h
COM_MOD: Communication mode
•
SYNCMODE: Synchronization setting
1: Performs synchronous communication.
(Watchdog data error detection enabled. Synchronous communication commands can be
used.)
0: Performs asynchronous communication.
(Watchdog data error detection disabled. Synchronous communication commands cannot be
used.)
•
DTMODE: Data transfer method
00: Single transmission
01: Consecutive transmission
10: Reserved
11: Reserved
•
SUBCMD: Subcommand setting
0: Subcommand disabled
1: Subcommand enabled
COM_TIM: Communication cycle setting
Sets the number by which to multiply the transmission cycle to get the communications cycle.
The setting range is 1 to 255.
The setting must meet the following conditions.
•
Σ
-7S SERVOPACKs
0.125 [ms]
≤
Transmission cycle [ms]
×
COM_TIME
≤
32 [ms]
•
Σ
-7W SERVOPACKs
0.25 [ms]
≤
Transmission cycle [ms]
×
COM_TIME
≤
32 [ms]
PROFILE_TYPE: Profile type setting
Sets the profile type to be used.
PROFILE_TYPE = 10h (Standard servo profile)
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
SUBCMD
0
0
0
DTMODE
SYNCMODE
0
If you use a communications cycle of 2 ms for a transmission cycle of 0.5 ms,
COM_TIME will be 4 (2/0.5).
Example