8 (2) details of com_mod, 3) transmission cycle and communications cycle – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual
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3 Commands for Preparation Process
3.2.3 Establish MECHATROLINK-II Connection (CONNECT: 0EH)
3-8
(2) Details of COM_MOD
COM_MOD bit allocation and each bit status are described below.
• SYNCMOD: Sets the synchronization mode.
SYNCMOD = 0: Asynchronous communications
SYNCMOD = 1: Synchronous communications
• DTMOD: Sets the data transmission method.
DTMOD = 00 or 11: Single transmission
DTMOD = 01: Continuous transmission
Normally, set DTMOD to 00.
• SUBCMD: Specify whether to use subcommands or not.
SUBCMD = 0: Do not use subcommands
SUBCMD = 1: Use subcommands
Note: When SYNCMOD = 0, it is necessary to send SYNC_SET command to enter Phase 3.
(3) Transmission Cycle and Communications Cycle
The table below provides the applicable communications cycle and the maximum number of connectable sta-
tions for each transmission cycle setting.
Note: Communications retry stations can be connected as long as the total number of connected stations, including the
retry stations, is within the connectable max. number of stations. The maximum number of retry stations is the dif-
ference between the connectable max. number of stations and the number of actually connected slave stations, but
limited to 7.
Note that the connectable max. number of stations may differ depending on the controller specifications.
D7
D6
D5
D4
D3
D2
D1
D0
SUBCMD
0
0
0
DTMOD
SYNCMOD
0
Phase 1
!
Phase 2
Phase 3 !
SYNCMOD = 0
SYNCMOD = 1
SYNC_SET
Warning
!
Transmission Cycle
Applicable Communications Cycle
Transmission Bytes
17-byte
32-byte
Connectable Max. Number of Stations
0.25 ms
0.25 ms to 8.00 ms (in 0.25-ms units)
2
1
0.50 ms
0.50 ms to 16.00 ms (in 0.50-ms units)
7
4
0.75 ms
0.75 ms to 24.00 ms (in 0.75-ms units)
11
7
1.00 ms
1.00 ms to 32.00 ms (in 1.00-ms units)
15
9
1.50 ms
1.50 ms to 32.00 ms (in 1.50-ms units)
23
15
2.00 ms
2.00 ms to 32.00 ms (in 2.00-ms units)
30
21
2.50 ms
2.50 ms to 2.00 ms (in 2.50-ms units)
30
26
3.00 ms
3.00 ms to 32.00 ms (in 3.00-ms units)
30
30
3.50 ms
3.50 ms to 32.00 ms (in 3.50-ms units)
30
30
4.00 ms
4.00 ms to 32.00 ms (in 4.00-ms units)
30
30