Oriental motor NETC01-M3, Руководство пользователя

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M E CHATRO L I N K-
Ⅲ
communication format
−19−
8 MECHATROLINK-
Ⅲ
communication
format
This chapter explains the MECHATROLINK- Ⅲ communication format that the
NETC01-M3
supports.
8.1 Data format
The outline of the data format for MECHATROLINK- Ⅲ communication is shown below. The
NETC01-M3
is compatible with the cyclic communication mode.
The cyclic communication mode of MECHATROLINK- Ⅲ communication specifies that the header fields are
0 byte to 3 bytes and the data fields are 4 bytes and later.
Byte
Command
(Master to NETC01-M3 )
Response
( NETC01-M3 to master)
Header field
0 CMD RCMD
1 WDT RWDT
2
CMD_CTRL CMD_STAT
3
Data field 4 to 31 Command data field Response data field
8.2 Phase
The communication phases of MECHATROLINK- Ⅲ communication are classified as follows.
Phase Description
0
This is a state at power-on. When turning on the power for the master station and slave station,
operation switches to the phase 1.
1
This is a state waiting for the connection establishment between the master station and slave
station.
2
Asynchronous communication between the master station and slave station is enabled. Only
asynchronous command can be used.
3
Synchronous communication between the master station and slave station is enabled. Both
asynchronous command and synchronous command can be used.
4
This is a state that the communication between the master station and slave station is stopped and
the connection is disconnected.
5 This is a state turning off the power for the master station and slave station.