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
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
mailbox@sentronic.com
www.sentronic.com
R7ML-DA16
EM-7805-F Rev.3 P. 7 / 10
Advertisement
