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: [email protected]
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
■
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
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