IAI America PCON-CFA - Manual (Page 221)

5. Flow and Commands of Basic MECHA
TROLINK Communication
213
[5] DISCONNECT command
Command Code Name
DISCONNECT 0F
H
Command requesting to disconnect from the MECHATROLINK network
Disengages the connection with the master unit.
This command is processed first even if other commands are being processed. (The commands that were being
processed are stopped.)
This command can be received in any phase.
You can check if the process is completed by checking CMDRDY=1 in the STATUS field.
It is not required to check if the master unit has completed the process.
The master unit must send this command for at least two communication cycle
y Communication data format
Byte Command Response
0 CDRW(03H) ACK(01H)
1 DISCONNECT(0FH) DISCONNECT(0FH)
2 0 ALARM
3 0
4 0
5 0 0
: 0 0
15 0 0
16 WDT RWDT
17 0 0
: 0 0
31 0 0
STATUS