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• DATA_RWA Command (50H) Data Format
Byte
COMMAND
0
CDRW (03H)
1
DATA_RWA
DATA_RWA
(50H)
2
0
3
0
4
0
5
CH1 OUT LO
6
CH1 OUT HI
7
CH2 OUT LO
8
CH2 OUT HI
9
CH3 OUT LO
10
CH3 OUT HI
11
CH4 OUT LO
12
CH4 OUT HI
13
EXT OUT LO
14
EXT OUT HI
15
0
STATUS LO
16
0
17
0
:
:
31
0
■ MECHATROLINK APPLICATION LAYER DATA DESCRIPTIONS
• Alarm Error Codes
Errors detected at the slave are set at ALARM in the response and sent to the master.
ERROR CODE
DESCRIPTION
00H
Normal status
01H
Invalid Command: Command is not supported.
02H
Command Not Allowed: Command execution conditions are not met.
03H
Invalid Data: Data in the command is not correct.
04H
Synchronization Error
• STATUS1 Bit Allocations
Alarm/Warning classification and status information are set at STATUS1 in the response and sent to the master.
Bit
DEFINITION
0
Alarm Bit
1
Warning Bit
2
Command Ready Bit
3...7
Unused
• STATUS2
Reserved for future use
• Input Data
Input data to be sent from the slave to the master are set in the response. With an output module, output data in the command
are repeated and sent back to the master.
ID
DESCRIPTION
CH1 IN LO
CH1 data, low 8 bits
CH1 IN HI
CH1 data, high 8 bits
CH2 IN LO
CH2 data, low 8 bits
CH2 IN HI
CH2 data, high 8 bits
CH3 IN LO
CH3 data, low 8 bits
CH3 IN HI
CH3 data, high 8 bits
CH4 IN LO
CH4 data, low 8 bits
CH4 IN HI
CH4 data, high 8 bits
RESPONSE
REMARKS
ACK (01H)
Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
Data Read/Write_A (DATA_RWA) Command: Refreshes I/O data
(50H)
ALARM
Error code: See "MECHATROLINK DATA DESCRIPTIONS"
STATUS1
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
STATUS2
Status code: See "MECHATROLINK DATA DESCRIPTIONS"
CH1 IN LO
CHx OUT: Output data: See "MECHATROLINK DATA DESCRIPTIONS"
CHx IN: Input data: See "MECHATROLINK DATA DESCRIPTIONS"
CH1 IN HI
CH2 IN LO
CH2 IN HI
CH3 IN LO
CH3 IN HI
CH4 IN LO
CH4 IN HI
EXT IN LO
EXT OUT: Extension output data: See "MECHATROLINK DATA DESCRIPTIONS"
EXT IN: Extension input data: See "MECHATROLINK DATA DESCRIPTIONS"
EXT IN HI
R7ML status: See "MECHATROLINK DATA DESCRIPTIONS"
STATUS HI
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.
DESCRIPTION
0 : Normal, 1 : Alarm
0 : Normal, 1 : Warning
0 : Command cannot be accepted (busy), 1 : Command can be accepted (ready)
----
REMARKS
R7ML-DA16: Bit 0 through 7 data are set.
R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.
R7ML-DA16: Bit 8 through 15 data are set.
R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.
R7ML-DA16, R7ML-DC16x: Unused
R7ML-YS2, R7ML-YV2: Output data are repeated.
R7ML-DA16, R7ML-DC16x: Unused
R7ML-YS2, R7ML-YV2: Output data are repeated.
R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
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
CLASSIFICATION
----
Warning
Warning
Warning
Alarm
EM-7805-E Rev.2
P. 9 / 10
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