Manual

5. Flow and Commands of Basic MECHATROLINK Communication
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5.2 MECHATROLINK Data Link Layer
MDS is the only data link layer command supported under the MECHATROLINK communication specification.
MDS command
The intelligent I/O slave returns the following responses.
Byte Command Response
0 MDS (04H) S(0)(90H)
1 0 ID_L(0H)
2 0 ID_H(80H)
3 0 0
4 0 0
: 0 0
15 0 0
16 0 0
17 0 0
: 0 0
31 0 0
5.3 MECHATROLINK Applied Layer
The command format for the MECHATROLINK applied layer is shown below.
[Refer to 5.4 “Supported Commands.”]
Byte Command Response
0 CDRW(03H) ACK(01H)
1
CMD
[Insert one of the
commands explained in
5.4 [1] to [6].]
RCMD
[Refer to 5.4 [1] to [6].]
2
ALARM field
[Refer to “Alarm Field”
on the next page.]
3
4
STATUS field
[Refer to “Status Field”
on the next page.]
5
:
15
16
Applied layer command
data
Applied layer response
data
17
:
31
Applied layer command
data
Applied layer response
data