Oriental motor NETC01-M3, Руководство пользователя

Страница: 25 / 62

Details of command
−25−
„
Explanation of command
Device group Common command group
Communication type Asynchronous command
Completion of command
operation
• Confirms by the response RCMD=ALM_CLR (06h), CMD_STAT.CMDRDY=1 and
ALM_CLR_MOD.
• When the CMD_STAT.D_ALM or CMD_STAT.D_WAR is equal to 1, use the ALM_
RD to read out the present alarm or warning codes and take appropriate action.
• When the CMD_STAT.CMD_ALM or CMD_STAT.COMM_ALM is other than 0, take
appropriate action according to the code. Refer to "Command status (CMD_STAT)"
on p.37 for details.
Note
•
This command can be used in the phase 2 and 3.
• ALM_CLR_MOD: Reading mode
If the ALM_CLR_MOD is invalid, "9" is set for CMD_ALM (CMD_ALM=9).
Command parameter
• ALM_CLR_MOD
0: This command is used to reset the MECHATROLINK- Ⅲ communication error
that is currently occurred.
9.6 Establish connection command (CONNECT: 0Eh)
This command is used to establish the MECHATROLINK- Ⅲ communication connection.
„
Data format
Byte
Command
(Master to
NETC01-M3
)
Response
(
NETC01-M3
to master)
0 CONNECT (0Eh) CONNECT (0Eh)
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
4 VER (30h) VER (30h)
5 COM_MODE COM_MODE
6 COM_TIME COM_TIME
7 PROFILE_TYPE (30h) PROFILE_TYPE (30h)
8 to 31 Reserved (0h) Reserved (0h)
„
Explanation of command
Device group Common command group
Communication type Asynchronous command
Completion of command
operation
•
Confirms by the response RCMD=CONNECT (0Eh), CMD_STAT.CMDRDY=1,
VER, COM_MODE, COM_TIME and PROFILE_TYPE.
• When the CMD_STAT.D_ALM or CMD_STAT.D_WAR is equal to 1, use the ALM_
RD to read out the present alarm or warning codes and take appropriate action.
• When the CMD_STAT.CMD_ALM or CMD_STAT.COMM_ALM is other than 0, take
appropriate action according to the code. Refer to "Command status (CMD_STAT)"
on p.37 for details.
Note
• This command can be used in the phase 1. It is disregarded in the phase 2 and 3.
•
VER: MECHATROLINK application layer version
COM_MODE: Communication mode
COM_TIM: Communication cycle setting
PROFILE_TYPE: Profile type setting
If any of the VER, COM_MODE, COM_TIM or PROFILE_TYPE is invalid, "9" is set
for CMD_ALM (CMD_ALM=9).