Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 135)

6 MECHATROLINK II Communications
6.2.1 Communications Settings
6-4
6.2 Switches for MECHATROLINK II Communications Settings
This section describes the switch settings necessary for MECHATROLINK II communications.
6.2.1 Communications Settings
The SW2 DIP switch sets the MECHATROLINK II communications settings, as shown below. Settings
that have been changed are enabled when the power is turned OFF and ON.
1. When connecting to a MECHATROLINK network, set bits 1 and 2 to OFF.
2. Baud rate: 4 Mbps, transmission bytes: 30 (bit 1 = OFF, bit 2 = ON) cannot be used.
6.2.2 Setting the Transmission Cycle
The transmission cycle and number of stations that can be set with the SERVOPACK are shown below.
Note: 1. When the number of stations actually connected is less than the max. number of stations, the
remaining channels can be used as communications retry channels. (Number of communications
retry channels = Max. number of stations - Number of actual stations connected+1)
2. When not using communications retry, the max. number of stations is increased by one.
3. When connecting the C2 master, the max. number of stations is decreased by one.
SW2 Item Setting Description Factory
Setting
Bit 1 Baud rate OFF 4 Mbps ON
ON 10 Mbps
Bit 2 Transmission
bytes OFF 17 bytes ON
ON 32 bytes
Bit 3 Station address OFF Station address =
40H+SW1 OFF
ON Station address =
50H+SW1
Bit 4 Reserved OFF − OFF
ON
OFF
SW2 (factory setting)
1 2 3 4
1
2
3
4
5
6
7 8 9
A
B
C
D
E
F 0
SW1 (factory setting)
IMPORTANT
Table 6.1 Transmission Cycle, Transmission Bytes, and Max. Number of Stations
Transmis-
sion Bytes
Transmission Cycle
0.25 ms ∗ 0.5 ms 1.0 ms 1.5 ms 2.0 ms 2.5 ms 3.0 ms 3.5 ms 4.0 ms
17 2 6 14 23 30 30 30 30 30
30 0 3 8 14 20 25 30 30 30