IAI America PCON-CFA User Manual
Page 219
5. Flow and Commands of Basic MECHA
TROLINK Communication
211
[4] CONNECT command
Command Code
Name
CONNECT 0E
H
Command to connect to the MECHATROLINK network
When this command is completed, the phase moves into phase 2 or 3 in which communication is allowed.
Use this command to set the communication mode (synchronous or asynchronous communication).
The connection is established between the master unit and the specified slave.
You can check if the process is completed by checking CMDRDY=1 in the STATUS field.
z MECHATROLINK-II field content
Field (Signal) name
Value
Description
VER
21H
MECHATROLINK-II = 21H
BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
DATA_EXP
0 0 0 DTMOD
SYNCMOD
0
1 32-byte
mode
DATA_EXP
0 17-byte
mode
1
Set-up not allowed
DTMOD
0 Single
phase
communication
1
Set-up not allowed
COM_MODE
SYNCMOD
0 Asynchronous
communication
COM_TIME
Set-up not required
z MECHATROLINK-I field content
Field (Signal) name
Value
Description
VER
10H
MECHATROLINK-I = 10H
BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
0 0 0 0 DTMOD
SYNCMOD
EXMOD
1
Set-up not allowed
DTMOD
0 Single
phase
communication
1
Set-up not allowed
SYNCMOD
0 Asynchronous
communication
1
Expandable connection (SYNCMOD is disregarded)
COM_MODE
EXMOD
0
Standard connection -- This is to be selected usually.
COM_TIME
Set-up not required