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• CONNECT Command (0EH) Data Format
Byte
COMMAND
RESPONSE
0
CDRW (03H)
ACK (01H)
1
CONNECT
CONNECT
(0EH)
2
0
3
0
STATUS1
4
0
STATUS2
5
VER
6
COM_MODE
COM_MODE
7
COM_TIME
COM_TIME
8
0
9
0
10
0
11
0
12
0
13
0
14
0
15
0
16
0
17
0
:
:
31
0
• DISCONNECT Command (0FH) Data Format
Byte
COMMAND
RESPONSE
0
CDRW (03H)
ACK (01H)
1
DISCONNECT
DISCONNECT
(0FH)
2
0
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
REMARKS
Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
Establish Connection (CONNECT) Command: Requests to establish
(0EH)
connection to MECHATROLINK
ALARM
Error code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
VER
Application Layer version number
10H: MECHATROLINK-I
21H: MECHATROLINK-II
Communication mode
00H: 17-byte mode
80H: 32-byte mode
Communication cycle (milliseconds)
MECHATROLINK-I: Multiples of two (2)
MECHATROLINK-II: Integral multiples of the transmission cycle
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
0
17-byte mode.
REMARKS
Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
Release Connection (DISCONNECT) Command: Requests to release
(0FH)
connection to MECHATROLINK
ALARM
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
0
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
P. 8 / 10
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