YASKAWA SGDS Sigma III Series, Руководство пользователя

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6.3 Main Commands
6-15
6.3.9 MECHATROLINK II Connection (CONNECT: 0EH)
• Details of COM_MOD
* If SYNCMOD = 0, the SERVOPACK transmits the SYNC_SET command and changes the
communications to Phase 3.
Byte CONNECT Description
Command Response
1 0EH 0EH Processing
classifications Network com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Communications
cycle or more Subcommand Cannot be used
3 STATUS • Establishes a MECHATROLINK II connection. Sets the communications
mode according to COM_MOD.
• VER: Version
• Set VER to 21H (Ver. 2.1).
• COM_MOD: Communications mode. Refer to the following table.
• COM_TIM: Communications cycle
Set the multiple number of transmission cycle in the range of 0.5 to 32.
When the transmission cycle is 0.5 [ms]
≤
transmission cycle [ms]
×
COM_TIM
≤
32 [ms] and the communications cycle is set in multiples of 0.5
ms.
• A warning will occur and the command will be ignored in the following cases.
- If COM_MOD is not within range: Data setting warning 2 (A.94B)
- If COM_TIM is not within range: Data setting warning 2 (A.94B)
- If the transmission bytes is 17, and SUBCMD is 1: Data setting
warning 2 (A.94B)
- If VER is not equal to 21H in the MECHATROLINK communications
mode: Data setting warning 2 (A.94B)
4
5
VER VER
6 COM_MOD COM_MOD
7 COM_TIM COM_TIM
8
9
10
11
12
13
14
15
16
WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
SUBCMD 0 0 0 DTMOD SYNCMOD 0
• SYNCMOD*:
0: Asynchronous communication
1: Synchronous communication
DTMOD: Data transfer method
00, 11: Single transfer
01: Consecutive transfer
SUBCMD:
0: Subcommand not used
1: Subcommand used
• Set the 0 in the other bit.
Phase 1
Phase 2
Phase 3
SYNCMOD=0
SYNC_SET
Warning/alarm
SYNCMOD=1