4.2 Main Commands
58
4.2
Main Commands
The following sections describe main command specific items that are unique to the SJDE
-
ANA-
OY.
The MECHATROLINK-
II
main commands use the first to the sixteenth bytes of the command and
response data.
4.2.1 Communication Phases
The table below shows the relationship between communication phases and device-level operations in
the MECHATROLINK-
II
during normal operations. The C1 master station phases described here indi-
cate the communication state of the C1 master station in relation to the slave stations, but do not indi-
cate the state of the C1 master station device.
Relationship between Communication Phase and Device level Operation
C1 Master Station
Phase Transition between
C1 Master and Slave Stations
Slave Station
Phase
Device Operation
Command
Device Operation
Phase
0
Power ON
-
Power ON
0
1
Initialization state
CONNECT
Prepared for
CONNECT
1
2, 3
Normal operation
state
Normal
operation
commands
Normal opera-
tion state
2, 3
4
Operate
communication
DISCON-
NECT
Stop
communication
4
5
Power OFF
-
Power OFF
5
TOEP_C710806_03A_1_0.book Seite 58 Montag, 2. Juli 2007 3:55 15
