Yaskawa LEGEND-MC - Manual (Page 130)

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LEGEND-MC User’s Manual
HC (Handle Configuration)
[Configuration]
DESCRIPTION:
The HC command performs all the operations of IH, NA and the QW command for a simplified connection
method.
The command is executed in the master controller and addresses all slaves. The slaves must be at addresses
of the (master IP address + (2*SlaveNum)). The master opens handles to the slaves, and initiates the QW
packets.
The IP address for the master must be established with the IA command prior to issuing the HC command.
The controller requires firmware version 1.0c or greater to use the HC command.
This command is only for connecting to SMC slaves. It can only be executed once per power on session.
Include a delay of about 5 seconds to allow a sufficient time for all network devices to power up
and be ready for network communication. Devices such as an Ethernet switch take some time at
power up to discover the network before they allow communication. If _HC=0 after issuing the
command, the network conditions will not allow communication.
ARGUMENTS: HC a,b,c where
HC? returns the present setting of the HC command.
NOTE: If the c parameter is 1, then only 1 handle is opened for each slave.
If the c parameter is 2 or 3, then two handles are opened for each slave.
*NOTE: Yaskawa recommends that the c parameter is set to 3 for the most efficient use of the network
and processing time. With parameter “c” set to 3, the outbound master commands are TCP/IP
protocol, and the slave update packets that are sent at interval “b” use the UDP/IP protocol,
which does not require an acknowledgement.
USAGE:
NOTE: Command causes configuration to be sent to slaves once.
OPERAND USAGE:
_HC contains a 0 if the Handle Configuration failed or has not been issued.
contains a 1 if the Handle Configuration is in progress.
contains a 2 if the Handle Configuration has completed successfully.
Description Min Max
a Total number of axes in the system 1 8
b Slave update rate in milliseconds 10 20000
c Communication protocol 1=UDP 2=TCP 3=TCP*
While Moving Yes Default Value n/a
In a Program Yes Default Format ---
Command Line Yes
Can be Interrogated Yes
Used as an Operand Yes Distributed Control No, Local