MODEL: R7ML

http://www.m-system.co.jp/

R7ML SPECIFICATIONS

ES-7805 Rev.11 Page 6/40

MECHATROLINK RELATED COMMANDS

Related commands are as follows.

Command of MECHATROLINK has a two-layer structure, which is composed of Data Link Layer (upper layer) and

Application Layer (lower layer). All the Application Layer Commands are located in lower layer of Data Link Layer (CDRW).

COMMAND NAME COMMAND (hexadecimal) DESCRIPTION

Data Link Layer Command

MDS

04H

Product type reading

CDRW

03H

Data transmission

Application Layer Command

NOP

00H

Invalid

ID_RD

03H

Product information reading

CONNECT

0EH

Communication start with master

DISCONNECT

0FH

Communication stop with master

DATA_RWA

50H

I/O data update

■ DATA LINK LAYER COMMAND

• MDS (04H) Command Data Format

Reads product type

Byte

COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

0

04H

90H

Product type reading

1

00H

00H

Reserved

2

00H

80H

Intelligent I/O

3 – 31

00H

00H

3 – 17 bytes at 17 bytes mode

• CDRW (03H) Command Data Format

Data transmission command is located in upper layer of Application Layer Command.

Byte COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

0

03H

90H

Data transmission

1

CMD

RCMD

CMD : Application Layer command

RCMD : Response (Same value as Application Layer Command)

2

00H

ALARM

Error code (Refer to the following table)

3

00H

STATUS1

Transmission status (Refer to the following table)

4

00H

STATUS2

Reserved

5 – 31

XX

YY

Depend upon the Application Layer Command

• ALARM

Communication error codes at the slave are sent to the master

ERROR CODE (hexadecimal) DESCRIPTION

CLASSIFICATION

00H

MECHATROLINK communication is in normal status

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01H

Unsupported command is received.

Warning

02H

Command execution conditions are not met.

Warning

03H

Data in the command is not correct.

Warning

04H

Synchronization Error

Error

• STATUS1

The status of the slave is sent to the master in accordance with the classification of the error codes at ALARM.

Bit

DEFINITION

DESCRIPTION

0

Error Bit

1 : Error, 0 : Normal

1

Warning Bit

1 : Warning, 0 : Normal

2

Command Ready Bit 1 : Command can be accepted (ready), 0 : Command cannot be accepted (busy)

3 – 7

Unused

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