IAI America PCON-CFA - Manual (Page 214)

5. Flow and Commands of Basic MECHA
TROLINK Communication
206
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