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R7ML-DC16A

P. 7 / 10

EM-7805-G Rev.2

 

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.

056 222 38 18

[email protected]

www.sentronic.com

SENTRONIC

AG

Summary of Contents for R7ML-DC16A-R

Page 1: ...ard to the whole system and employ additional protective measures to ensure CE conformity POWER INPUT RATING OPERATIONAL RANGE Locate the power input rating marked on the product and confirm its opera...

Page 2: ...9 6 14 5 MECHATROLINK Setting Rotary SW MECHATROLINK Connector Station Address Setting Rotary SW Status Indicator LED Operating Mode Setting DIP SW SW1 PC Configurator Jack Discrete Output Status Ind...

Page 3: ...ith any extension module is selectable OPERATING MODE Factory setting Extension SW1 1 1 2 SW1 1 SW1 2 Extension OFF OFF No extension ON OFF Discrete input 8 or 16 points OFF ON Discrete output 8 or 16...

Page 4: ...diagram below Note In order to improve EMC performance bond the FE terminal to ground Caution FE terminal is NOT a protective conductor terminal 7 6 3 0V 24V DC FG 10 17 18 1 YD 16 YB 0V YF 15 Y9 14 Y...

Page 5: ...ve SRD SRD SLD SRD SRD SLD Slave SRD SRD SLD MECHATROLINK Cable MECHATROLINK Cable MECHATROLINK COMMUNICATION MECHATROLINK I Baud rate 4 Mbps Transmission distance 50 m max Distance between stations 3...

Page 6: ...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 C...

Page 7: ...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...

Page 8: ...ion 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...

Page 9: ...lid Command Command is not supported Warning 02H Command Not Allowed Command execution conditions are not met Warning 03H Invalid Data Data in the command is not correct Warning 04H Synchronization Er...

Page 10: ...ule output data in the command are repeated and sent back to the master ID DESCRIPTION REMARKS EXT IN LO Extension data low 8 bits R7ML EA16 R7ML EA8 Bit 0 through 7 data are set R7ML EC16x R7ML EC8x...

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