R7ML-DC16B
P. 8 / 10
EM-7805-H Rev.2
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: [email protected]
•
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.
