MODEL: R7ML

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

R7ML SPECIFICATIONS

ES-7805 Rev.11 Page 7/40

■ APPLICATION LAYER COMMAND

Application Layer Command is located in lower layer of Data Link Layer Command (CDRW). Following tables are details

on bytes 5 through 31 dependent upon Application Layer Command.

Note : At 17 bytes mode, bytes dependant upon Application Layer Command are to be 5 through 17.

• NOP (00H) Command Data Format

0, which indicates invalid command, is sent to the master

Byte

COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

5 – 31

00H

00H

Invalid

• ID_RD (03) Command Data Format

Reads product information. (max. 8 bytes at a time) Repeat reading multiple times in order to read out all the data.

Byte COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

5

DEVICE_CODE

DEVICE_CODE

DEVICE_CODE : Selection of product information

00 : Product model (data length : 32 bytes)

02 : Product version (data length : 32 bytes)

0F : Vendor code (data length : 48 bytes)

6

OFFSET

OFFSET

OFFSET : Specify read position

7

SIZE

SIZE

SIZE : Specify length of read data (max. 8 bytes)

8 – 15

00H

ID

Product information data

16 – 31

00H

00H

Unused

• CONNECT (0EH) Command Data Format

Starts communication with the master

Byte

COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

5

VER

VER

MODE : Selection of MECHATROLINK version

10 : MECHATROLINK - I

21 : MECHATROLINK - II

6

COM_MODE

COM_MODE

COM_MODE : Selection of data length

00 : 17 bytes mode

80 : 32 bytes mode

7

COM_TIME

COM_TIME

COM_TIME : Communication cycle (milliseconds)

MECHATROLINK-I: Multiples of two (2)

MECHATROLINK-II: Integral multiples of the trans-

mission cycle

8 – 31

00H

00H

Unused

• DISCONNECT (0FH) Command Data Format

Stops communication with the master .

Byte COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS

5 – 31

00H

00H

Unused