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YASKAWA
SIEP C730600 88F MECHATROLINK-III Technical Manual
◆
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
3
4
VER
Specify 30 (Hex.).
5
COM_MOD
Specify the Communication Mode (COM_MOD).
Refer to
for more information.
6
COM_TIM
1 - 255
Sets multiples of the transmission cycle as the communication cycle.
7
PROFILE_TYPE
Specify PROFILE_TYPE = 20 (Hex.).
8
Reserved (0)
Not used
・
・
31
CONNECT Response
Byte
Response
Description
0
CONNECT (0E Hex.))
Command code
1
RWDT
Watchdog data
2
CMD_STAT
Refer to page
3
4
VER
The value set in the command.
5
COM_MOD
The value set in the command.
6
COM_TIM
The value set in the command.
7
PROFILE_TYPE
The value set in the command.
8
Reserved (0)
Not used
・
・
31
Table 9.5 COM_MOD
bit7
bit6
bit5
bit4
bit3
bit2
bit1
bit0
SUBCMD
0
0
0
DTMODE
SYNCMODE
0
bit
Name
Value
Description
SUBCMD
Sub-command setting
0
Sub-command disabled
1
Sub-command enabled
DTMODE
Data transfer method
0
Single transmission
SYNCMODE
Synchronization setting
0
Performs asynchronous communication
1
Performs synchronous communication
◆
DISCONNECT: 0F (Hex.) (Release Connection Command)
The DISCONNECT command releases the connection. The communication phase shifts to communication phase
1 after this command is completed.
