M-system R7ML-LC2, Instruction Manual, Page: 6 / 10

R7ML-LC2
EM-7805-AX
P. 6 / 10 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
MECHATROLINK RELATED COMMANDS
Related commands are as follows.
Command of MECHATROLINK has a two-layer structure, which is composed of Data Link Layer (upper layer) and
Application Layer (lower layer). All the Application Layer Commands are located in lower layer of Data Link Layer (CDRW).
COMMAND NAME COMMAND (hexadecimal) DESCRIPTION
Data Link Layer Command MDS 04H Product type reading
CDRW 03H Data transmission
Application Layer Command NOP 00H Invalid
ID_RD 03H Product information reading
CONNECT 0EH Communication start with master
DISCONNECT 0FH Communication stop with master
DATA_RWA 50H I/O data update
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DATA LINK LAYER COMMAND
• MDS (04H) Command Data Format
Reads product type
Byte COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS
0 04H 90H Product type reading
1 00H 00H Reserved
2 00H 80H Intelligent I/O
3 – 31 00H 00H 3 – 17 bytes at 17 bytes mode
• CDRW (03H) Command Data Format
Data transmission command is located in upper layer of Application Layer Command.
Byte COMMAND (hexadecimal) RESPONSE (hexadecimal) REMARKS
0 03H 90H Data transmission
1 CMD RCMD CMD : Application Layer command
RCMD : Response (Same value as Application Layer Command)
2 00H ALARM Error code (Refer to the following table)
3 00H STATUS1 Transmission status (Refer to the following table)
4 0H STATUS2 Reserved
5 – 31 XX YY Depend upon the Application Layer Command
• ALARM
Communication error codes at the slave are sent to the master
ERROR CODE (hexadecimal) DESCRIPTION CLASSIFICATION
00H MECHATROLINK communication is in normal status ----
01H Unsupported command is received. Warning
02H Command execution conditions are not met. Warning
03H Data in the command is not correct. Warning
04H Synchronization Error Error
• STATUS1
The status of the slave is sent to the master in accordance with the classification of the error codes at ALARM.
Bit DEFINITION DESCRIPTION
0 Error Bit 1 : Error, 0 : Normal
1 Warning Bit 1 : Warning, 0 : Normal
2 Command Ready Bit 1 : Command can be accepted (ready), 0 : Command cannot be accepted (busy)
3 – 7 Unused ----