M-system R7ML-DA16, Instruction Manual

Page: 8 / 10

R7ML-DA16
EM-7805-F Rev.3 P. 8 / 10
• CONNECT Command (0EH) 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 CONNECT
(0EH)
CONNECT
(0EH)
Establish Connection (CONNECT) Command: Requests to establish
connection to MECHATROLINK
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 VER VER Application Layer version number
10H: MECHATROLINK-I
21H: MECHATROLINK-II
6 COM_MODE COM_MODE Communication mode
00H: 17-byte mode
80H: 32-byte mode
7 COM_TIME COM_TIME Communication cycle (milliseconds)
MECHATROLINK-I: Multiples of two (2)
MECHATROLINK-II: Integral multiples of the transmission cycle
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.
• DISCONNECT Command (0FH) 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 DISCONNECT
(0FH)
DISCONNECT
(0FH)
Release Connection (DISCONNECT) Command: Requests to release
connection to MECHATROLINK
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.
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