Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 145)

6 MECHATROLINK II Communications
6.3.8 Start Synchronous Communications (SYNC_SET: 0DH)
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6.3.8 Start Synchronous Communications (SYNC_SET: 0DH)
Byte SYNC_SET Description
Command Response
1 0DH 0DH Processing
classifications Network com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Transmission
cycle or more Subcommand Cannot be used
3 STATUS • Starts synchronous communications. Switches from phase 2 to phase 3.
• Processing is completed at the WDT changing edge.
However, if WDT errors are being masked by parameter Pn800.0, processing
is completed when this command is received.
• During phase 1, a MECHATROLINK II command warning1 (A.95A) will
occur and the command will be ignored.
• During phase 3, the command will be ignored (without a warning).
• The SERVOPACK will change to Servo OFF if this command is received.
• At the occurrence of the following alarms, this command must be transmitted
to restart synchronous communications.
- MECHATROLINK II Synchronization Error (A.E50)
- MECHATROLINK II Synchronization Failure (A.E51)
- MECHATROLINK II Communications Error (A.E60)
- MECHATROLINK II Transmission Cycle Error (A.E61)
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WDT RWDT