M-system R7G4FML3-6-DA16, Instruction Manual

Page: 7 / 10

R7G4FML3-6-DA16
P. 7 / 10 EM-7774-A Rev.2
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp
• CONNECT (0EH)
Starts communication with master station.
BYTE COMMAND RESPONSE REMARKS
0 CONNECT (0EH) CONNECT (0EH) Establish connection command
1 00H 00H Not used
2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.
3
4
30H 30H MECHATROLINK application layer: 30H
5 00H 00H Communication mode: Asynchronous, single transmis -
sion, subcommand disabled
6 COM_TIME COM_TIME Communication cycle: Multiple of transmission cycle.
E.g. Transmission cycle: 0.5 msec, communication cycle: 2
msec. Set 4 (=2/0.5)
7 30H or 01H 30H or 01H Profile type 30H: Standard I/O 01H: Event-driven
≥ 8 00H 00H Reserve
• DISCONNECT (0FH)
Stops communication with master station.
BYTE COMMAND RESPONSE REMARKS
0 DISCONNECT (0FH) DISCONNECT (0FH) Release Connection command
≥ 1 00H 00H Reserve
• DATA_RWA (20H)
Transmits I/O data to master station. Data allocation is following.
Data size is 16 bytes.
BYTE COMMAND RESPONSE REMARKS
0 DATA_RWA (20H) DATA_RWA (20H) Transmmit I/O data
1 00H 00H Not used
2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.
3
4
CH0 OUT LO CH0 IN LO CH x OUT: Output data
(Refer to “ Output Data ”
under Input / Output Data Details)
CHx IN: Input data
(Refer to “ Input Data ”
under Input /Output Data Details)
5 CH0 OUT HI CH0 IN HI
6 CH1 OUT LO CH1 IN LO
7 CH1 OUT HI CH1 IN HI
8 CH2 OUT LO CH2 IN LO
9 CH2 OUT HI CH2 IN HI
10 CH3 OUT LO CH3 IN LO
11 CH3 OUT HI CH3 IN HI
12 00H 00H Not used
13 00H 00H Not used
14 00H 00H Not used
15 00H 00H Not used