IAI America PCON-CFA - Manual (Page 216)

5. Flow and Commands of Basic MECHA
TROLINK Communication
208
5.4 Supported Commands
Each controller of the MECHATROLINK communication specification supports the commands explained in [1] to
[6] below.
[1] NOP commands
Command Code Name
NOP 00H Command with no instruction
This command is to be used for network administration.
When this command is sent, the current condition of the slave (ALARM field and STATUS field) is returned.
You can check if the process is completed by checking CMDRDY=1 in the STATUS field.
y Communication data format
Byte Command Response
0 CDRW(03H) ACK(01H)
1 NOP(00H) NOP(00H)
2 0 ALARM
3 0
4 0
5 0 0
: 0 0
15 0 0
16 WDT RWDT
17 0 0
: 0 0
31 0 0
STATUS