Yaskawa SI-ET3 - Manual (Page 33)

9 Main Command
YASKAWA ELECTRIC SIEP C730600 62B 1000-Series Option SI-ET3 Technical Manual 33
‹ CONNECT: 0EH (Establish Connection Command)
The CONNECT command is used to establish a MECHATROLINK connection. After the connection is established, the
phase moves to communication phase 2 and 3.
SYNC_SET command
Byte Command Description
0 SYNC_SET (0DH) Command code
1 WDT Watchdog data
2
CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24 .
3
4
Reserved (0) Not used
5
6
7
x
x
31
SYNC_SET Response
Byte Command Description
0 SYNC_SET (0DH) Command code
1 RWDT Watchdog data
2
CMD_STAT Refer to Command Status (CMD_STAT) on page 24 .
3
4
Reserved (0) Not used
5
6
7
x
x
31
CONNECT Command
Byte Command Description
0 CONNECT (0EH) Command code
1 WDT Watchdog data
2
CMD_CTRL Refer to Command Control (CMD_CTRL) on page 24 .
3
4
VER Specify 30H.
5 COM_MOD
Specify the Communication Mode (COM_MOD).
Refer to
Table 17 for details.
6 COM_TIM
1 to 255
Sets multiples of the transmission cycle as the communication cycle.
7 PROFILE_TYPE Specify PROFILE_TYPE = 20H.
8
Reserved (0) Not used
x
x
31
CONNECT Response
Byte Command Description
0 CONNECT (0EH) Command code
1 RWDT Watchdog data