MODEL: R7K4DML-B-DA32A

R7K4DML-B-DA32A SPECIFICATIONS

ES-7776-E Rev.0 Page 6/8

http://www.m-system.co.jp/

MECHATROLINK RELATED COMMANDS

R7K4DML (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 R7K4DML interchanges I/O data via data link layer.

■ MECHATROLINK DATA LINK LAYER COMMAND DESCRIPTIONS

The following tables explain the two Commands supported by the R7K4DML.

• 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)