MODEL: R7K4FML-6-DA32
R7K4FML-6-DA32 SPECIFICATIONS
ES-7771-A Rev.1 Page 4/8
https://www.m-system.co.jp/
MECHATROLINK RELATED COMMANDS
R7K4FML (Simple I/O) communicates with I/O service with no processor, therefore it uses a connectionless communication protocol.
There is no application layer either; the R7K4FML interchanges I/O data via data link layer.
■
MECHATROLINK DATA LINK LAYER COMMAND DESCRIPTIONS
The following tables explain the two Commands supported by the R7K4FML.
• MDS Command (04H) Data Format
BYTE
COMMAND
RESPONSE
REMARKS
0
MDS (04H)
S(0) (90H)
Message Data Search (MDS) Command: Read the ID from slave station(s)
S(0): Response to MDS
1
0
ID
2
0
3
0
0
All 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-byte mode.
These bytes are unavailable for MECHATROLINK-I and MECHATROLINK-II
in the 17-byte mode.
• 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
Out Data: Lowest
In Data: Lowest
Order of data: Little Endian
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Out Data: Highest
In Data: Highest
17
:
31
(
Out Data: Highest
)
(
In Data: Highest
)
Byte 17 through 31 are unavailable for MECHATROLINK-I and
MECHATROLINK-II in the 17-byte mode.
(Only available for MECHATROLINK-II in the 32-byte mode)
