R7ML-RS4
P. 6 / 10
EM-7805-C Rev.2
MECHATROLINK RELATED COMMANDS
■
MECHATROLINK DATA LINK LAYER COMMAND DESCRIPTIONS
The R7ML, Intelligent I/O, performs the connection-type communications according to MECHATROLINK protocol.
The following tables explain Data Link Layer Commands supported by the R7ML.
•
MDS Command (04H) Data Format
Byte
COMMAND
RESPONSE
REMARKS
0
MDS (04H)
S (0) (90H)
Message Data Search (MDS) Command: Read the ID from the slave station
S (0): Response to MDS
1
0
ID1 (00H)
2
0
ID2 (80H)
Intelligent I/O specified
3
0
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, or 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
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.
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