Manual
5. Flow and Commands of Basic MECHATROLINK Communication
211
[4] CONNECT command
Command Code Name
CONNECT 0E
H
Command to connect to the MECHATROLINK network
When this command is completed, the phase moves into phase 2 or 3 in which communication is allowed.
Use this command to set the communication mode (synchronous or asynchronous communication).
The connection is established between the master unit and the specified slave.
You can check if the process is completed by checking CMDRDY=1 in the STATUS field.
zMECHATROLINK-II field content
Field (Signal) name Value Description
VER 21H MECHATROLINK-II = 21H
BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
DATA_EXP 0 0 0 DTMOD SYNCMOD 0
1 32-byte mode
DATA_EXP
0 17-byte mode
1 Set-up not allowed
DTMOD
0 Single phase communication
1 Set-up not allowed
COM_MODE
SYNCMOD
0 Asynchronous communication
COM_TIME
Set-up not required
zMECHATROLINK-I field content
Field (Signal) name Value Description
VER 10H MECHATROLINK-I = 10H
BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
0 0 0 0 DTMOD SYNCMOD EXMOD
1 Set-up not allowed
DTMOD
0 Single phase communication
1 Set-up not allowed
SYNCMOD
0 Asynchronous communication
1 Expandable connection (SYNCMOD is disregarded)
COM_MODE
EXMOD
0 Standard connection -- This is to be selected usually.
COM_TIME
Set-up not required