R7G4HML-6-SVF8N
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-7775-C Rev.2 P. 7 / 11
• CDRW Command (03H) 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
CMD
RCMD
CMD: Application Layer Command
RCMD: Response to Application Layer Command
2
:
16
Byte 2 through 16 depend upon the Application Layer Command type.
17
:
31
Byte 17 through 31 depend upon the Application Layer Command type.
These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK- II in the
17-byte mode.
■
MECHATROLINK APPLICATION LAYER COMMAND DESCRIPTIONS
The following tables explain Application Layer Commands supported by the R7G4HML (Intelligent I/O).
• NOP Command (00H) 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
NOP (00H)
NOP (00H)
No Operation (NOP) Command: Nothing is performed.
2
0
ALARM
Error code: See “MECHATROLINK APPLICATION LAYER DATA DESCRIPTIONS”
3
0
STATUS1
Status code: See “MECHATROLINK APPLICATION LAYER DATA DESCRIPTIONS”
4
0
STATUS2
Status code: See “MECHATROLINK APPLICATION LAYER 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.
