M-system R7ML-DC16A, Instruction Manual

Page: 9 / 10

R7ML-DC16A
P. 9 / 10 EM-7805-G 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
• DATA_RWA Command (50H) 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 DATA_RWA
(50H)
DATA_RWA
(50H)
Data Read/Write_A (DATA_RWA) Command: Refreshes I/O data
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 CH1 OUT LO CH1 IN LO CHx OUT: Output data: See “MECHATROLINK DATA DESCRIPTIONS”
CHx IN: Input data: See “MECHATROLINK DATA DESCRIPTIONS”
6 CH1 OUT HI CH1 IN HI
7 CH2 OUT LO CH2 IN LO
8 CH2 OUT HI CH2 IN HI
9 CH3 OUT LO CH3 IN LO
10 CH3 OUT HI CH3 IN HI
11 CH4 OUT LO CH4 IN LO
12 CH4 OUT HI CH4 IN HI
13 EXT OUT LO EXT IN LO EXT OUT: Extension output data: See “MECHATROLINK DATA DESCRIPTIONS”
EXT IN: Extension input data: See “MECHATROLINK DATA DESCRIPTIONS”
14 EXT OUT HI EXT IN HI
15 0 STATUS LO R7ML status: See “MECHATROLINK DATA DESCRIPTIONS”
16 0 STATUS HI
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.
■
MECHATROLINK APPLICATION LAYER DATA DESCRIPTIONS
• Alarm Error Codes
Errors detected at the slave are set at ALARM in the response and sent to the master.
ERROR CODE DESCRIPTION CLASSIFICATION
00H Normal status ----
01H Invalid 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 Error Alarm
• STATUS1 Bit Allocations
Alarm/Warning classification and status information are set at STATUS1 in the response and sent to the master.
Bit DEFINITION DESCRIPTION
0 Alarm Bit 0 : Normal, 1 : Alarm
1 Warning Bit 0 : Normal, 1 : Warning
2 Command Ready Bit 0 : Command cannot be accepted (busy), 1 : Command can be accepted (ready)
3...7 Unused ----
• STATUS2
Reserved for future use
• Input Data
Input data to be sent from the slave to the master are set in the response. With an output module, output data in the command
are repeated and sent back to the master.
ID DESCRIPTION REMARKS
CH1 IN LO CH1 data, low 8 bits R7ML-DA16: Bit 0 through 7 data are set.
R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.
CH1 IN HI CH1 data, high 8 bits R7ML-DA16: Bit 8 through 15 data are set.
R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.
CH2 IN LO CH2 data, low 8 bits R7ML-DA16, R7ML-DC16x: Unused
R7ML-YS2, R7ML-YV2: Output data are repeated.
CH2 IN HI CH2 data, high 8 bits R7ML-DA16, R7ML-DC16x: Unused
R7ML-YS2, R7ML-YV2: Output data are repeated.
CH3 IN LO CH3 data, low 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
CH3 IN HI CH3 data, high 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
CH4 IN LO CH4 data, low 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused
CH4 IN HI CH4 data, high 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused