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MECHATROLINK RELATED COMMANDS
■ MECHATROLINK DATA LINK LAYER COMMAND DESCRIPTIONS
The R7ML, Intelligent I/O, performs the connection-type communications according to MECHATROLINK protocol.
The following tables explain Data Link Layer Commands supported by the R7ML.
• MDS Command (04H) Data Format
Byte
COMMAND
RESPONSE
0
MDS (04H)
S (0) (90H)
1
0
ID1 (00H)
2
0
ID2 (80H)
3
0
4
0
5
0
6
0
7
0
8
0
9
0
10
0
11
0
12
0
13
0
14
0
15
0
16
0
17
0
:
:
31
0
• CDRW Command (03H) Data Format
Byte
COMMAND
RESPONSE
0
CDRW
(03H)
1
CMD
RCMD
2
:
16
17
:
31
REMARKS
Message Data Search (MDS) Command: Read the ID from the slave station
S (0): Response to MDS
Intelligent I/O specified
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Byte 17 through 31 are always 0 in the 32-byte mode.
:
These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the 17-
0
byte mode.
REMARKS
ACK
Cyclic Data Read/Write (CDRW) Command: Link transmission
(01H)
Acknowledge (ACK): Positive response to CDRW
CMD: Application Layer Command
RCMD: Response to Application Layer Command
Byte 2 through 16 depend upon the Application Layer Command type.
Byte 17 through 31 depend upon the Application Layer Command type.
These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK- II in the 17-
byte mode.
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: + 81 ( 6 ) 6659-8201 Fax: + 81 ( 6 ) 6659-8510 E-mail: info@m-system.co.jp
R7ML-YS2
EM-7805-E Rev.2
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