R7F4HML3-D-DAC32B
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax:
+81(6)6659-8510 E-mail: [email protected]
EM-8002-B Rev.2 P. 7 / 12
MECHATROLINK-III COMMUNICATION
Transmission cycle:
125 µsec., 250 µsec., 500 µsec., 1 – 64 msec. (with 1 msec. increments)
Communication cycle:
125 µsec. through 64 msec.
Applicable profile:
Standard I/O profile (cyclic communication)
Event-driven communication acquiring ID profile (event-driven communication)
Transmission bytes:
16 bytes
Station address:
03H through EFH (set with rotary switches)
Cyclic communication:
Available
Event-driven communication:
Available
Slave monitoring:
None
MECHATROLINK-III COMMAND
Commands available with this unit are the following.
PROFILE
COMMAND
CODE FUNCTION
Common command
NOP
00H
No operation command
ID_RD
03H
Read ID command
CONFIG
04H
Setup device command
ALM_RD
05H
Read alarm or warning command
ALM_CLR
06H
Clear alarm or warning command
CONNECT
0EH
Establish connection command
DISCONNECT
0FH
Release connection command
Standard I/O profile
DATA_RWA
20H
Transmit I/O data
• NOP (00H)
Does nothing except sending back current status
BYTE COMMAND
RESPONSE
REMARKS
0
NOP (00H)
NOP (00H)
No operation command
1
00H
00H
Not used
2
CMD_CTRL
CMD_STAT
Refer to CMD_CTRL/CMD_STAT.
3
≥ 4
00H
00H
Reserve
• ID_RD (03H)
Reads the product ID.
BYTE COMMAND
RESPONSE
REMARKS
0
ID_RD (03H)
ID_RD (03H)
Read ID command
1
00H
00H
Not used
2
CMD_CTRL
CMD_STAT
Refer to CMD_CTRL/CMD_STAT.
3
4
ID_CODE
ID_CODE
Refer to ID_CODE
5
OFFSET
OFFSET
OFFSET: designates the place to read data
6
SIZE
SIZE
SIZE: specify the size of data to read
7
≥ 8
00H
ID
Product's ID
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