Advertisement
■ MECHATROLINK APPLICATION LAYER COMMAND DESCRIPTIONS
The following tables explain Application Layer Commands supported by the R7ML.
• NOP Command (00H) Data Format
Byte
COMMAND
RESPONSE
0
CDRW (03H)
ACK (01H)
1
NOP (00H)
NOP (00H)
2
0
ALARM
3
0
STATUS1
4
0
STATUS2
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
• ID_RD Command (03H) Ddata Format
Byte
COMMAND
RESPONSE
0
CDRW (03H)
ACK (01H)
1
ID_RD (03H)
ID_RD (03H)
2
0
ALARM
3
0
STATUS1
4
0
STATUS2
5
DEVICE_
DEVICE_
CODE
6
OFFSET
OFFSET
7
SIZE
8
0
9
0
10
0
11
0
12
0
13
0
14
0
15
0
16
0
17
0
:
:
31
0
REMARKS
Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
No Operation (NOP) Command: Nothing is performed.
Error code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
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
Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
Read ID (ID_RD) Command: Read out the device ID
Error code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
Specifies the device code
CODE
00H: Product's model number
0FH: Vendor code
Indicates where to start reading in the specified device ID
SIZE
Number of byte counts to read
ID1
ASCII or binary data
ID2
ASCII or binary data
ID3
ASCII or binary data
ID4
ASCII or binary data
ID5
ASCII or binary data
ID6
ASCII or binary data
ID7
ASCII or binary data
ID8
ASCII or binary data
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.
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
P. 7 / 10
Advertisement
