R7K4FML3-6-DAC32B
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: [email protected]
EM-7773-E Rev.3 P. 6 / 11
MECHATROLINK-III COMMUNICATION
Transmission cycle
: 125 µsec., 250 µsec., 500 µsec., 1 – 64 msec. (with 1 msec. increments)
Communication cycle
: 125 µsec. through 64 msec.
Applicable profile
: Standard I/O profile (cyclic communication)
Event-driven communication acquiring ID profile (event-driven communication)
Transmission bytes
: 16 bytes
Station address
: 03H through EFH (set with rotary switches)
Cyclic communication
: Available
Event-driven communication
: Available
Slave monitoring
: None
MECHATROLINK-III RELATED COMMANDS
Commands available with this unit are the following.
PROFILE
COMMAND
CODE
FUNCTION
Common command
NOP
00H
No operation command
ID_RD
03H
Read ID command
CONFIG
04H
Setup device command
ALM_RD
05H
Read alarm or warning command
ALM_CLR
06H
Clear alarm or warning command
CONNECT
0EH
Establish connection command
DISCONNECT
0FH
Release connection command
Standard I/O profile
DATA_RWA
20H
Transmit I/O data
• NOP (00H)
Does nothing except sending back current status
BYTE
COMMAND
RESPONSE
REMARKS
0
NOP (00H)
NOP (00H)
No operation command
1
00H
00H
Not used
2
CMD_CTRL
CMD_STAT
Refer to CMD_CTRL/CMD_STAT.
3
≥ 4
00H
00H
Reserve
• ID_RD (03H)
Reads the product ID.
BYTE
COMMAND
RESPONSE
REMARKS
0
ID_RD (03H)
ID_RD (03H)
Read ID command
1
00H
00H
Not used
2
CMD_CTRL
CMD_STAT
Refer to CMD_CTRL/CMD_STAT.
3
4
ID_CODE
ID_CODE
Refer to ID_CODE
5
OFFSET
OFFSET
OFFSET: designates the place to read data
6
SIZE
SIZE
SIZE: specify the size of data to read
7
≥ 8
00H
ID
Product’s ID
• CONFIG (04H)
No parameter to set for this unit. Immediately response with completion.
BYTE
COMMAND
RESPONSE
REMARKS
0
CONFIG (04H)
CONFIG (04H)
Setup device command
1
00H
00H
Not used
2
CMD_CTRL
CMD_STAT
Refer to CMD_CTRL/CMD_STAT.
3
4
00H
00H
Recalculation of parameters and set up. Other than 00H is
not supported.
≥ 5
00H
00H
Reserve
