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R7ML-SV4

EM-7805-A  Rev.4  P. 9 / 10

• 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

056 222 38 18

[email protected]

www.sentronic.com

SENTRONIC

AG

Summary of Contents for R7ML-SV4

Page 1: ...E requirements in regard 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...

Page 2: ...SD Green Turns on when the module is transmitting RD Green Turns on when the module is receiving STATION ADDRESS Station Address is selected between 60H and 7FH Intel ligent I O in hexadecimal Certai...

Page 3: ...rate factory default 80 msec Sensor type and range Before starting programming turn on the front SW1 5 6 7 8 For more information about the programming using the R7CON please refer to the R7CON Users...

Page 4: ...ion FG terminal is NOT a protective conductor terminal 1 VH0 10 VL0 11 I0 2 COM0 INPUT 0 3 VH1 12 VL1 13 I1 4 COM1 INPUT 1 6 VH2 15 VL2 16 I2 7 COM2 INPUT 2 8 VH3 17 VL3 18 I3 9 COM3 INPUT 3 Input Con...

Page 5: ...e 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 30...

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 CD...

Page 7: ...ESPONSE 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: ...on 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 I...

Page 9: ...id 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 Err...

Page 10: ...et R7ML EC16x R7ML EC8x Output data are repeated EXT IN HI Extension data high 8 bits R7ML EA16 Bit 8 through 15 data are set R7ML EC16x Output data are repeated R7ML EA8 R7ML EC8x Unused Extension Ou...

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