Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 37)

3 Commands for Preparation Process
3.2.2 Release MECHATROLINK-II Connection (DISCONNECT: 0FH)
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3.2.2 Release MECHATROLINK-II Connection (DISCONNECT: 0FH)
The connection must be released at the end of communications.
Send a DISCONNECT command to release the connection.
(1) DISCONNECT Command (0FH)
The specifications of the DISCONNECT command are shown below.
Note: Always send a DISCONNECT command for at least two communications cycles.
Byte
DISCONNECT
Description
Command Response
1
0FH
0FH
Phases in
which the
command can
be executed
All phases
Synchronization
classification
Asynchronous
command
2 ALARM
Processing
time
Communications
cycle or more
(Within 5 s)
Subcommand Cannot be used
3
STATUS
• Releases the MECHATROLINK-II connection, and the SERVOPACK
changes communications to Phase 1.
• When this command is received, the following operations will be per-
formed.
- The SERVOPACK changes communications to Phase 1.
- The SERVOPACK changes to Servo OFF.
- The reference point setting becomes invalid.
- The position data is initialized.
- BRAKE signal turns ON.
- If an alarm has occurred, releasing the connection will not clear the
alarm status. The set parameter data (saved in the volatile memory) will
remain valid.
- To re-establish connection, carry out operations in the same sequence
as when turning ON the power supply and set the required parameters
again.
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16 WDT RWDT