3 state transition diagram, 3 state transition diagram -3 – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual

Page 11

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1.1 MECHATROLINK-II Communications

1-3

1

MECHA

TROLINK-

II

Commands

1.1.3 State Transition Diagram

The primary (master) and secondary (slave) station state transitions are shown in the following diagrams.

Primary Station (Master Station) State Transition

Secondary Station (Slave Station) State Transition

Phase

Abbreviation

Description

1

P1

Waiting for establishment of connection.

2

P2

Asynchronous communications enabled. Only asynchronous commands can be used.

3

P3

Synchronous communications enabled. Both synchronous and asynchronous commands
can be used.

P1/ Waits for connection establishment

P2/ Asynchronous communications state

P3/ Synchronous communications state

Sends CONNECT

(Asynchronous communications)

Sends SYNC_SET

Power ON

Start

Sends CONNECT

(Synchronous communications)

Communications

error

Communications

error

Start

P1/ Waits for connection establishment

P2/ Asynchronous communications state

P3/ Synchronous communciations state

Power ON

Sends SYNC_SET

Sends CONNECT

(Asynchronous communications)

Receives DISCONNECT

Receives CONNECT

Communications

error

Communications

error

Receives DISCONNECT

Communications

error

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