Manual

4.6

Communication with the Master Station .................................................................................... 127

4.6.1 Operation Modes and Handling of PLC Addresses ...................................................... 127

4.6.2 Remote I/O Mode.......................................................................................................... 131

4.6.3 Position/Simple Direct Mode......................................................................................... 136

4.6.4 Half Direct Mode (Cannot be used in the 17-byte mode) ............................................. 141

4.6.5 Remote I/O Mode 2....................................................................................................... 148

4.6.6 Position/Simple Direct Mode 2...................................................................................... 152

4.6.7 Half Direct Mode 2 (Cannot be used in the 17-byte mode) .......................................... 157

4.6.8 Remote I/O Mode 3....................................................................................................... 164

4.6.9 Half Direct Mode 3 (Cannot be used in the 17-byte mode) .......................................... 168

4.6.10 I/O Signal Controls and Functions ................................................................................ 175

4.7 I/O Signal Timings...................................................................................................................... 192

4.8 Operation ................................................................................................................................... 193

4.9 MECHATROLINK Parameters................................................................................................... 198

4.10 Troubleshooting ......................................................................................................................... 204

4.10.1 Alarm Details and Causes/Actions................................................................................ 204

4.10.2 Status LED Indicators ................................................................................................... 204

Flow and Commands of Basic MECHATROLINK Communication..............................................205

5.1 Basic Communication Flow........................................................................................................ 205

5.2 MECHATROLINK Data Link Layer ............................................................................................ 206

5.3 MECHATROLINK Applied Layer ............................................................................................... 206

 ALARM Fields ............................................................................................................... 207

 STATUS Fields ............................................................................................................. 207

5.4 Supported Commands ............................................................................................................... 208

Change History ............................................................................................................................215