Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 174)

6.3 Main Commands
6-43
6.3.34 MECHATROLINK Connection (CONNECT: 0EH)
• Details of COM_MOD
* The SERVOPACK changes communication to phase 2 when EXMOD is set to 1. The SERVOPACK
changes communication to phase 3 after SYNC_SET setting.
Byte CONNECT Description
Command Response
1 0EH 0EH Processing
classifications Network com-
mand group Synchronization
classifications Asynchronous
2 ALARM Processing time Communications
cycle or more Subcommand Cannot be used
3 STATUS • Establishes a MECHATROLINK connection. Sets the communications mode
according to COM_MOD.
• VER: Version
Set VER to 10H (Ver. 1.0).
• Subcommand: Cannot be used.
COM_MOD: Communications mode. Refer to the following table.
• COM_TIM: Communications cycle [ms]
Set the multiple number of 2 [ms] in the range of 2 to 32 [ms].
2 [ms]
≤ COM_TIM ≤ 32 [ms]
• A command warning will occur and the command will be ignored in the
following cases.
- If COM_MOD is not within range: Data setting warning 2 (A.94B)
- If COM_TIM is not within range: Data setting warning 2 (A.94B)
4
5
VER VER
6 COM_MOD COM_MOD
7 COM_TIM COM_TIM
8
9
10
11
12
13
14
15
16
WDT RWDT
D7 D6 D5 D4 D3 D2 D1 D0
SUBCMD 0 0 0 DTMOD SYNCMOD EXMOD
• EXMOD:
0: Standard connection
1: Extended connection
• SYNCMOD*:
0: Asynchronous communications
1: Synchronous communications
• DTMOD:
00,11: Single transfer
01: Consecutive transfer
10: Multiple transfers (not supported)
Phase 1
Phase 2
Phase 3
EXMOD=1
SYNCMOD=1
SYNC_SET
Warning
EXMOD=0,
SYNCMOD=1