R7K4FML3-6-DA32-R datasheet(4/7 Pages) MSYSTEM

4 / 7 page

MODEL: R7K4FML3-6-DA32

R7K4FML3-6-DA32 SPECIFICATIONS

ES-7773-A Rev.1 Page 4/7

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

MECHATROLINK RELATED COMMANDS

Commands available with this unit are the following.

PROFILE

COMMAND

CODE

FUNCTION

Common command

NOP

00H

No operation command

ID_RD

03H

Read ID command

CONFIG

04H

Setup device command

ALM_RD

05H

Read alarm or warning command

ALM_CLR

06H

Clear alarm or warning command

CONNECT

0EH

Establish connection command

DISCONNECT

0FH

Release connection command

Standard I/O pro le

DATA_RWA

20H

Transmit I/O data

RESPONSE TIME

Response time of discrete input module is the time till when the communication ASIC of the module transmits input data from

when input signal is applied to the module.

TCOM: MECHATROLINK-III transmission cycle set at master

(depends on system and configuration)

TINP: Response of input module ≤ Delay of input circuit (Ta, ON delay time or OFF delay time) + Acquire cycle (Ts) + input

internal processing delay time (Tc, two transmission cycle)

E.g.: Acquire cycle: 1 msec., MECHATROLINK-III transmission cycle: 0.125 msec., discrete input ON

Response of input module (TINP): Delay of input circuit (0.2 msec.) + Acquire cycle (1 msec.) + input internal processing delay

time (0.125 msec. x 2) = 1.45 [msec.]

INPUT MODULE

MECHATROLINK-III

TRANSMISSION CYCLE

TRANSMISSION FROM

SLAVE COMMUNICATION ASIC

TINP

TRANSMISSION TO

A HOST (MASTER)

TCOM

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