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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]

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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.

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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.

Summary of Contents for R7ML-DC16B

Page 1: ...when it is integrat ed in a panel system The user may have to review the CE requirements in regard to the whole system and employ additional protective measures to ensure CE conformity POWER INPUT RAT...

Page 2: ...3 4 5 6 7 8 0 1 2 3 4 5 6 7 8 9 A B C D E F 4 5 6 7 1 2 3 10 11 12 13 2 3 4 1 15 16 17 18 7 8 9 6 14 5 MECHATROLINK Setting Rotary SW MECHATROLINK Connector Station Address Setting Rotary SW Status I...

Page 3: ...e 1 MECHATROLINK II 17 byte mode 3 MECHATROLINK I 17 byte mode EXTENSION MODULE Combinations with any extension module is selectable OPERATING MODE Factory setting Extension SW1 1 1 2 SW1 1 SW1 2 Exte...

Page 4: ...M3 SCREW TERMINALS for OUTPUT 6 24 6 24 75 2 95 CONNECTION DIAGRAM Connect the unit as in the diagram below Note In order to improve EMC performance bond the FE terminal to ground Caution FE terminal...

Page 5: ...erminating resistors Consult the instruction manual for the Master SRD SRD SLD SRD SRD SLD Slave SRD SRD SLD SRD SRD SLD Slave SRD SRD SLD MECHATROLINK Cable MECHATROLINK Cable MECHATROLINK COMMUNICAT...

Page 6: ...1 0 ID1 00H 2 0 ID2 80H Intelligent I O specified 3 0 0 4 0 0 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 byt...

Page 7: ...ATROLINK 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...

Page 8: ...iseconds 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 ar...

Page 9: ...sponse 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...

Page 10: ...e to be sent from the slave to the master are set in the response With an output extension module output data in the command are repeated and sent back to the master ID DESCRIPTION REMARKS EXT IN LO E...

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