IAI America PCON-CFA - Manual (Page 213)

5. Flow and Commands of Basic MECHA
TROLINK Communication
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5. Flow and Commands of Basic MECHATROLINK Communication
5.1 Basic Communication Flow
The flow (example) when MECHATROLINK communication is performed on intelligent I/O is shown below.
* For details, refer to the operation manual for the MECHATROLINK master unit.
Start
Send a MDS command from the PLC. [Refer to 5.2.]
This step is required only when you want to check the I/O type online.
Send a DISCONNECT command from the PLC. [Refer to 5.4 [5].]
Since the communication statuses of slaves remain unknown immediately
after the master power is turned on, send this command to all slaves to
disconnect the communication with them in order to achieve a uniform
communication status with all slaves.
Send a CONNECT command from the PLC. [Refer to 5.4 [4].]
Establish communication. (Switch to asynchronous Phase 2 communication.)
Send DATA_RWA commands from the PLC. [Refer to 5.4 [6].]
Send/receive data to operate the actuator.
Send a DISCONNECT command from the PLC. [Refer to 5.4 [5].]
When all data has been sent/received, disconnect the communication.
End