R7ML-RS4
P. 7 / 10
EM-7805-C Rev.2
■
MECHATROLINK APPLICATION LAYER COMMAND DESCRIPTIONS
The following tables explain Application Layer Commands supported by the R7ML.
•
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 DATA DESCRIPTIONS”
3
0
STATUS1
Status code: See “MECHATROLINK DATA DESCRIPTIONS”
4
0
STATUS2
Status code: See “MECHATROLINK 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.
•
ID_RD Command (03H) Ddata 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
ID_RD (03H) ID_RD (03H) Read ID (ID_RD) Command: Read out the device ID
2
0
ALARM
Error code: See “MECHATROLINK DATA DESCRIPTIONS”
3
0
STATUS1
Status code: See “MECHATROLINK DATA DESCRIPTIONS”
4
0
STATUS2
Status code: See “MECHATROLINK DATA DESCRIPTIONS”
5
DEVICE_
CODE
DEVICE_
CODE
Specifies the device code
00H: Product’s model number
0FH: Vendor code
6
OFFSET
OFFSET
Indicates where to start reading in the specified device ID
7
SIZE
SIZE
Number of byte counts to read
8
0
ID1
ASCII or binary data
9
0
ID2
ASCII or binary data
10
0
ID3
ASCII or binary data
11
0
ID4
ASCII or binary data
12
0
ID5
ASCII or binary data
13
0
ID6
ASCII or binary data
14
0
ID7
ASCII or binary data
15
0
ID8
ASCII or binary data
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.
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