M-system R7ML-DA16, Instruction Manual

Page: 7 / 10

R7ML-DA16
EM-7805-F Rev.3 P. 7 / 10
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MECHATROLINK APPLICATION LAYER COMMAND DESCRIPTIONS
The following tables explain Application Layer Commands supported by the R7ML.
• NOP Command (00H) Data Format
Byte COMMAND RESPONSE REMARKS
0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
1 NOP (00H) NOP (00H) No Operation (NOP) Command: Nothing is performed.
2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”
3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”
4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”
5 0 0
6 0 0
7 0 0
8 0 0
9 0 0
10 0 0
11 0 0
12 0 0
13 0 0
14 0 0
15 0 0
16 0 0
17
:
31
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-
byte mode.
• ID_RD Command (03H) Ddata Format
Byte COMMAND RESPONSE REMARKS
0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission
Acknowledge (ACK): Positive response to CDRW
1 ID_RD (03H) ID_RD (03H) Read ID (ID_RD) Command: Read out the device ID
2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”
3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”
4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”
5 DEVICE_
CODE
DEVICE_
CODE
Specifies the device code
00H: Product’s model number
0FH: Vendor code
6 OFFSET OFFSET Indicates where to start reading in the specified device ID
7 SIZE SIZE Number of byte counts to read
8 0 ID1 ASCII or binary data
9 0 ID2 ASCII or binary data
10 0 ID3 ASCII or binary data
11 0 ID4 ASCII or binary data
12 0 ID5 ASCII or binary data
13 0 ID6 ASCII or binary data
14 0 ID7 ASCII or binary data
15 0 ID8 ASCII or binary data
16 0 0
17
:
31
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-
byte mode.
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