M-system R7ML-DC16D Instruction Manual page 7

■ 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 CODE
6 OFFSET OFFSET
7 SIZE SIZE
8 0 ID1
9 0 ID2
10 0 ID3
11 0 ID4
12 0 ID5
13 0 ID6
14 0 ID7
15 0 ID8
16 0
17 0
: :
31 0
SEN TRONIC
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
00H: Product's model number
0FH: Vendor code
Indicates where to start reading in the specified device ID
Number of byte counts to read
ASCII or binary data
ASCII or binary data
ASCII or binary data
ASCII or binary data
ASCII or binary data
ASCII or binary data
ASCII or binary data
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.
056 222 38 18
AG
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R7ML-DC16D
EM-7805-X Rev.1 P. 7 / 10