Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 40)

3.2 Commands Details
3-9
3
Commands for Preparation Process
3.2.4 Start Synchronous Communications (SYNC_SET: 0DH)
This section describe how to start synchronization to change a communications phase from phase 2 to phase 3.
When SYNCMOD bit of the COM_MOD of CONNECT command is set to 1, the communications phase will
change from phase 1 to phase 3 at the moment the connection is established. In this case, it is not necessary to
send a SYNC_SET command.
(1) SYNC_SET Command (0DH)
The specifications of the SYNC_SET command are described below.
Byte
SYNC_SET
Description
Command Response
1 0DH 0DH
Phases in
which the
command can
be executed
Phase 2
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Communications
cycle or more
(Within 5 s)
Subcommand Cannot be used
3
STATUS • Starts synchronous communications. Switched from phase 2 to phase 3.
• Synchronization is made at the WDT changing edge. However, if WDT
errors are masked by parameter Pn800.0, processing is completed when
this command is received.
• During phase 3, the slave ignores this command and returns a normal
response without a warning.
• If the slave station in Servo ON status receives this command in phase 2,
the slave station enters Servo OFF status.
• At occurrence of the following alarms and warnings, this command must
be transmitted to restart synchronous communications.
- Command warning 1 (A.95A) occurs when this command is used in
phase 1
- MECHATROLINK-II synchronization Error (A.E50)
- MECHATROLINK-II synchronization failed (A.E51)
- MECHATROLINK-II Communications Error (A.E60)
- MECHATROLINK-II Transmission Cycle Error (A.E61)
- Command warning 1 (A.95A) occurs when this command is used while
operating the servo using SigmaWin or a digital operator.
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16 WDT RWDT