INSTRUCTION MANUALMECHATROLINK I/O MODULE(encoder input (open collector input), 1 point, screw terminal block, MODELMECHATROLINK- III use)

R7G4HML3-6-PA1Ax

BEFORE USE ....

POINTS OF CAUTION

Thank you for choosing us. Before use, please check contents of the package you received as outlined below.
If you have any problems or questions with the product,
please contact our sales office or representatives.

■ CONFORMITY WITH EU DIRECTIVES• The equipment must be mounted inside the instrument
panel of a metal enclosure.
• The actual installation environments such as panel configurations, connected devices, connected wires, may affect the protection level of this unit when it is integrated
in a panel system. The user may have to review the CE
requirements in regard to the whole system and employ
additional protective measures to ensure the CE conformity.

■ PACKAGE INCLUDES:
Encoder input module..........................................................(1)DIN rail mounter slider.......................................................(2)■ MODEL NO.
Confirm Model No. marking on the product to be exactly
what you ordered.
■ INSTRUCTION MANUALThis manual describes necessary points of caution when
you use this product, including installation, connection andbasic maintenance procedures.

■ POWER INPUT RATING & OPERATIONAL RANGE• Locate the power input rating marked on the product andconfirm its operational range as indicated below:
		 24V DC rating: 24V ±10%, approx. 80mA
■ GENERAL PRECAUTIONS• Before you remove the unit or mount it, turn off the power
supply and input signal for safety.
• Before you remove the terminal block or mount it, makesure to turn off the power supply and input signal for
safety.
■ ENVIRONMENT• Indoor use.
• When heavy dust or metal particles are present in theair, install the unit inside proper housing with sufficientventilation.
• Do not install the unit where it is subjected to continuous
vibration. Do not subject the unit to physical impact.
• Environmental temperature must be within -10 to +55°C(14 to 131°F) with relative humidity within 30 to 90% RH
in order to ensure adequate life span and operation.
■ WIRING• Do not install cables close to noise sources (relay drive
cable, high frequency line, etc.).
• Do not bind these cables together with those in which
noises are present. Do not install them in the same duct.
• Be sure to close the terminal cover for safety.
■ AND ....
• The unit is designed to function as soon as power is supplied, however, a warm up for 10 minutes is required forsatisfying complete performance described in the data
sheet.

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

COMPONENT IDENTIFICATIONMECHATROLINK- III
Connectors

Station Address Setting
Rotary SW

Status Indicator LED

SA1
×10

PWR CON LNK2PC Configurator Jack

SA2
×1

ERR LNK1
CNFG
LNK1

LNK2

4

5
1

6
2

7
3

10 11 12 13 14 15 16 17 18
1

2

3

4

5

6

Power Supply Terminals■ STATUS INDICATOR LED
ID
PWR

COLOR
Green

ERR

Red

CON

Green

LNK1

Green

LNK2

Green

BCDE

F0 12
3 456

7 8 9A

3 456

BCDE

9

8

I/O Terminals■ POWER SUPPLY TERMINAL ASSIGNMENTFUNCTION
Turns on when the internal power is
supplied normally.
Turns on at MECHATROLINK-III
communication error
Turns on at MECHATROLINK-III
connection is established
Turns on at MECHATROLINK-III
LNK1 is established
Turns on at MECHATROLINK-III
LNK2 is established■ STATION ADDRESS
Station Address is selected between 03H and EFH in hexadecimal.
The SA1 switch determines the MSD, while the SA2 switch
does the LSD of the address.
(Factory setting: 03H)
F0 12

7

7 8 9A

Station Address Setting (LSD)
Station Address Setting (MSD)

4567NC NC ＋24V 0V
1
2
3
NC NC FE

1. NC
2. NC
3. FE
4. NC
5. NC
6. +24V
7. 0V

Functional earth
Power supply (24V DC)
Power supply (0V)

■ I/O TERMINAL ASSIGNMENT
10

11

SNSR
ENCDRー ENCDR＋

1

2

SNSR
EXC＋

NO.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18

12

3

A

13

Z
4

B

15

16

17

18

5

6

7

8

9

V＋ +24V1 LCH RST OCA OCB

IDSNSR EXC +
A
B
V+
+24V1
LCH
RST
OCA
OCB
SNSR /ENCDR –ENCDR +
Z
V–
+24V1
GND
GND
GND
GND

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN14

V− +24V1 GND GND GND GND

FUNCTIONSENSOR EXCITATION +PHASE APHASE B
ENCODER POWER OUTPUT +24V DCLATCH INPUTRESET INPUT
OPEN COLLECTOR OUTPUT A
OPEN COLLECTOR OUTPUT B
SENSOR EXCITATION – /ENCODER POWER INPUT –ENCODER POWER INPUT +PHASE ZENCODER POWER OUTPUT –24V DC
0V
0V
0V
0V

EM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

PC CONFIGURATOR
The following parameter items can be set with using PC Configurator Software (model: R7CFG).
Refer to the users manual for the R7CFG for detailed operation of the software program.
■ DATA TYPE

■ ALARM

PARAMETERSETTING RANGE

Data type

Position
Speed

DEFAULTSETTING
Position■ POSITION DATA MODE
PARAMETER
Reset value(linear counter)
Minimum totalizedvalue(linear counter)Maximum totalizedvalue(linear counter)
Count mode

Data type

SETTING RANGE
Min. totalized value –Max. totalized value-2 100 000 000 to
2 099 999 999

DEFAULTSETTING0-2 100 000 000-2 099 999 999 to
2 100 000 000

2 100 000 000

Mode 0: x1 (phase
A, B)
Mode 1: x1 (phase A)
Mode 2: x2
Mode 3: x4
Linear counter
Ring counter

Mode 3: x4

Linear counter■ SPEED DATA MODE
PARAMETERSETTING RANGE

Frequency range

0 – 100 kHz
0 – 10 kHz
0 – 1 kHz0 – 100 Hz
0 – 10 Hz
0 – 1 Hz0 – 0.1 Hz
0.10 to 25.00 (%)

Drop out(low-end cutout)
Bias
Gain
Zero scale
Full scale-320.00 to +320.00 (%)-3.2000 to +3.2000-32 000 to +32 000-32 000 to +32 000

DEFAULTSETTING0 – 100 kHz

0.10 (%)
0.00 (%)
1.00000
10 000

PARAMETERSETTING RANGEMECHATROLINK-III ValidcommandInvalid
Alarm TypeNot used
Speed highSpeed low
Position highPosition low
Setpoint A
Linear high setpoint:(position data)
Min to [Max−1]
Linear low setpoint:[Min+1] to Max
Setpoint B
Ring high setpoint: 0(position data)
to 4 294 967 294
Ring low setpoint: 1
to 4 294 967 295
Hysteresis (deadband) A Linear: < [Max – Min](position data)[Hi Setpoint – Hysteresis] > Min[Lo Setpoint + Hysteresis] < Max
Hysteresis (deadband) B Ring: 0 to 4 294 967 295[Hi Setpoint – Hys(position data)teresis] > 0[Lo Setpoint +Hysteresis] < 4 294 967 295
Setpoint A(speed data)
Setpoint B(speed data)
Hysteresis (deadband) A(speed data)
Hysteresis (deadband) B(speed data)
Alarm power on delay
Alarm on delay timer
Alarm on hold timer

DEFAULTSETTING
Invalid
Not used

100 000 000

100 000 000

1 000

1 000

-15.00 to +115.00 (%) 80.00 (%)
80.00 (%)
0.00 to 115.00 (%)

5.00 (%)
5.00 (%)

0.0 to 60.0 sec.
0.0 to 60.0 sec.
0.0 to 60.0 sec.

5.0 sec.
0.1 sec.
0.1 sec.

■ LATCH AND RESETPARAMETERSETTING RANGE

External latch

Valid
Invalidcommand via
MECHATROLINK-III
Valid
Invalid
Valid
Invalid
Valid
Invalid
Valid
Invalid
Valid
Invalid
Invalid
Z reset valid
Z latch valid*

MECHATROLINK-III
latch
MECHATROLINK-III
latch data clear
External reset
MECHATROLINK-III
reset
MECHATROLINK-III
reset data clear
Z reset/Z latch*

DEFAULTSETTING
Valid

Valid
Valid
Valid
Valid
Valid
Z reset valid* Selectable when the firmware version is V1.11 or later

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

COUNT MODE
■ MODE 0 (non-multiplication)
1 count / 1 input pulse (count at either edge of phase A or B)■ MODE 2 (double-multiplication)
2 counts / 1 input pulse (count at both edges of phase B)

H

H

Phase A

Phase A
L

L

H

H

Phase B

Phase B
L

L
COUNT UPCOUNT DOWN

■ MODE 1 (non-multiplication)
1 count / 1 input pulse (count at either edge of phase A)

COUNT UPCOUNT DOWN

■ MODE 3 (quad-multiplication)
4 counts / 1 input pulse (count at both edges of phase A and B)

H

H

Phase A

Phase A
L

L

H

H

Phase B

Phase B
L

L
COUNT UPCOUNT DOWN

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANCOUNT UPCOUNT DOWN

EM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

MOUNTING INSTRUCTIONS■ DIN RAIL MOUNTING (PARALLEL)• Mounting
1) Set the upper hook at the rear side of the unit on the DIN
rail.

• Dismounting
1) Push down the DIN rail mounter slider with tip of a minus screwdriver.

2) Push in the lower.

3) Remove the upper hook of the unit from the DIN rail.

2) Pull the lower of the unit.

2

2

3
1

1

• Dismounting
1) Push down the DIN rail mounter slider with tip of a minus screwdriver.

■ SURFACE MOUNTING
1) Insert the two DIN rail mounter sliders until it clicks
once, as shown below.

2) Pull the lower of the unit.
3) Remove the upper hook of the unit from the DIN rail.

1

1

2

2) Mount the unit with M4 screws referring the External
Dimensions. (Torque: 1.4 N·m)
3
1

■ DIN RAIL MOUNTING (RIGHT ANGLE)• Mounting
1) Insert the longer DIN rail mounter slider until it clicks
twice, as shown below.

12) Set the upper hook at the rear side of the unit on the DIN
rail.
3) Push in the lower.
3

2

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

TERMINAL CONNECTIONSConnect the unit as in the diagram below.
■ EXTERNAL DIMENSIONS unit: mm (inch)
154 (6.06)
140 (5.51)
130 (5.12)

57 (2.24)

50 (1.97)

DIN RAIL
35mm wide

4

5

6
2

7

10

3

1

11
2

12
3

13
4

14
5

15
6

16
7

17
8

18
9

3(.12) 5 (.2)1[(4) 0.16]
2 – 4.3 dia. 4 deep.
6

6

7–M3 SCREWTERMINALS for
POWER SUPPLY

18–M3 SCREWTERMINALS for I/O■ CONNECTION DIAGRAM
Note: In order to improve EMC performance, bond the FE terminal to ground.
Caution: FE terminal is NOT a protective conductor terminal.

SENSOR EXCITATION +(IN) 24V DC
ENCODER
POWER (IN) +SNSR EXC.+ 1
SNSR EXC./ENCDR– 10

ENCODER(OPEN COLLECTOROUTPUT)

ENCDR+ 11
A 2
B 3
Z 12
V+ 4

MECHAT RO LINK- III
CONNECTOR

−
−

V– 13

LCH 6
LATCH Detecting Circuit

GND 15M E C H AT R OLI N K- I I I
CONNECTOR+24V1 5

+24V1 14
RST 7
RESET

Detecting Circuit

GND 163 FE
6 24V DC
7 0V

OCA 8
OPEN COLL. OUTPUT A

GND 17OCB 9OPEN COLL. OUTPUT B

GND 18

Note: For wiring of encoder input, use twisted pair cable with shield. Be sure to
ground the shield.

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

MOUNTING REQUIREMENTS unit: mm (inch)

WIRING INSTRUCTIONS■ TORQUE
Wiring screw for separable terminal: 0.5 N∙mFixing screw for separable terminal: 0.5 N∙m

140 (5.51)
2 – M4■ SOLDERLESS TERMINAL
Refer to the drawing below for recommended ring tongue
terminal size. Spade tongue type is also applicable.
Applicable wire size: 0.25 to 1.65 mm2 (AWG 22 to 16)
Recommended manufacturer: Japan Solderless Terminal
MFG. Co., Ltd, Nichifu Co., Ltd

6 (.24) max

3.3 (.13) max

mm (inch)■ HOW TO UNMOUNT THE SEPARABLE TERMINALThe separable terminal of the unit is 2 piece constructions.
It is possible to remove the terminal by loosening two screwsof terminal alternately.

MECHATROLINK-III COMMUNICATION
Transmission cycle: 125 µsec., 250 µsec., 500 µsec., 1 – 64 msec. (with 1 msec. increments)
Communication cycle: 125 µsec. through 64 msec.
Applicable profile: Standard I/O profile (cyclic communication) 
Event-driven communication acquiring ID profile (event-driven communication)
Transmission bytes: 16 bytes
Station address: 03H through EFH (set with rotary switches)
Cyclic communication: Available
Event-driven communication: Available
Slave monitoring: None

MECHATROLINK-III RELATED COMMANDS
Commands available with this unit are the following.
PROFILECOMMANDCODE

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

DATA_RWA

20H

Transmit I/O data

Standard I/O profile• NOP (00H)
Does nothing except sending back current status
BYTE

COMMANDRESPONSE

REMARKS0NOP (00H)

NOP (00H)

No operation command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

00H

00H

Reserve

3≥4

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R7G4HML3-6-PA1Ax• ID_RD (03H)
Reads the product ID.
BYTE

COMMANDRESPONSE

REMARKS0

ID_RD (03H)

ID_RD (03H)

Read ID command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

4

ID_CODE

ID_CODE

Refer to ID_CODE

5

OFFSET

OFFSET

OFFSET: designates the place to read data

6

SIZE

SIZE

SIZE: specify the size of data to read

00H

ID

Product’s ID

3

7
≥8

• CONFIG (04H)
No parameter to set for this unit. Immediately response with completion.
BYTE

COMMANDRESPONSE

REMARKS

0

CONFIG (04H)

CONFIG (04H)

Setup device command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

4

00H

00H

Recalculation of parameters and set up. Other than 00H is
not supported.

≥5

00H

00H

Reserve

3• ALM_RD (05H)
Reads alarm or warning
BYTE

COMMANDRESPONSE

REMARKS0

ALM_RD (05H)

ALM_RD (05H)

Read alarm or warning command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

0000H

0000H

Read current alarm or warning.
12 points max. (2 bytes in 8th to 31st byte)
Other than 0000H is not available.

0000H

0000H

0

00H

00H

0

3
4
5
6
7
≥8

• ALM_CLR (06H)
Clears alarm or warning
BYTE

COMMANDRESPONSE

REMARKS0

ALM_CLR (06H)

ALM_CLR (06H)

Clear alarm or warning command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

0000H

0000H

Clear current alarm or warning. Other than 0000H is notavailable.

00H

00H

Reserve3
4
5≥6MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax• CONNECT (0EH)
Starts communication with master station.
BYTE

COMMANDRESPONSE

REMARKS

0

CONNECT (0EH)

CONNECT (0EH)

Establish connection command

1

00H

00H

Not used2

CMD_CTRLCMD_STAT

Refer to CMD_CTRL/CMD_STAT.

4

30H

30H

MECHATROLINK application layer: 30H

5

00H

00H

Communication mode: Asynchronous, single transmission,
subcommand disabled

6

COM_TIME

COM_TIME

Communication cycle: Multiple of transmission cycle.
E.g. Transmission cycle: 0.5 msec., communication cycle: 2
msec. Set 4 (=2/0.5)

730H or 01H

30H or 01H

Profile type
30H: Standard I/O profile
01H: Event-driven communication acquiring ID profile

≥8

00H

00H

Reserve

3• DISCONNECT (0FH)
Stops communication with master station.
BYTE

COMMANDRESPONSE

REMARKS0

DISCONNECT (0FH)

DISCONNECT (0FH)

Release connection command

≥1

00H

00H

Reserve• DATA_RWA (20H)
Transmits I/O data to master station. Data allocation is following.
Position data
BYTE
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

COMMANDDATA_RWA (20H)
00H
CMD_CTRLRESPONSE
DATA_RWA (20H)
00H
CMD_STATREMARKS
Transmit I/O data
Not used
Refer to CMD_CTRL/CMD_STAT.

CH0 COMMAND LO
CH0 COMMAND HI
CH0 PRESET DATA LO/LO
CH0 PRESET DATA LO/HI
CH0 PRESET DATA HI/LO
CH0 PRESET DATA HI/HI
00H
00H
00H
00H
00H
00H

CH0 COMMAND LO (READ BACK)CH0 COMMAND HI (READ BACK)CH0 IN LO/LO
CH0 IN LO/HI
CH0 IN HI/LO
CH0 IN HI/HISTATUS LO
STATUS HI
CH0 LATCH DATA LO/LO
CH0 LATCH DATA LO/HI
CH0 LATCH DATA HI/LO
CH0 LATCH DATA HI/HI

Lower byte of CH0 command
Upper byte of CH0 command
Lower data lower byte of CH0
Lower data upper byte of CH0
Upper data lower byte of CH0
Upper data upper byte of CH0
Lower byte of R7G4HML3 status
Upper byte of R7G4HML3 status
Lower data lower byte of CH0 latch
Lower data upper byte of CH0 latch
Upper data lower byte of CH0 latch
Upper data upper byte of CH0 latch

COMMANDDATA_RWA (20H)
00H
CMD_CTRLRESPONSE
DATA_RWA (20H)
00H
CMD_STATREMARKS
Transmit I/O data
Not used
Refer to CMD_CTRL/CMD_STAT.

CH0 COMMAND LO
CH0 COMMAND HI
00H
00H
00H
00H
00H
00H
00H
00H
00H
00H

CH0 COMMAND LO (READ BACK)CH0 COMMAND HI (READ BACK)CH0 IN LO
CH0 IN HI
00H
00H
STATUS LO
STATUS HI
00H
00H
00H
00H

Lower byte of CH0 command
Upper byte of CH0 command
Lower byte of CH0 data
Upper byte of CH0 data
Not usedNot used
Lower byte of R7G4HML3 status
Upper byte of R7G4HML3 status
Not usedNot usedNot usedNot used

Speed data
BYTE
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15

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R7G4HML3-6-PA1Ax

CMD_CTRLCMD_CTRL command area is following.
BIT

FUNCTION

REMARKS

0–2

Reserve

Not used3

ALM_CLR

0: Clear alarm/warning disabled
1: Clear alarm/warning triggered

4–5

Reserve

Not used

6–7

CMD_ID

Not used in the standard I/O command profile

8 – 15Reserve

Not used

CMD_STATCMD_STAT response area is following.
BIT

FUNCTION

REMARKS0

D_ALM

Not used1

D_WAR

Not used

2

CMDRDY

1: Command reception enabled
0: Other

3

ALM_CLR_CMP

1: Completion of execution of ALM_CLR
0: Other
ALM_CLR_CMP can be canceled by setting ‘0’ for ALM_CLR in CMD_CTRL command
area.

4–5

Reserve

Not used

6–7

RCMD_ID

Not used in the standard I/O command profile

8 – 11

CMD_ALM

Warning

0: Normal, 1: Invalid data

Alarm

8: Unsupported command received, 9: Invalid data, A: Command execution condition error, B: Subcommand combination error, C: Phase error

Warning

0: Normal, 1: FCS error, 2: Command data not received, 3: Synchronous
frame not received

Alarm

8: FCS error, 9: Command data not received, A: Synchronous frame notreceived, B: Synchronization time interval error, C: WDT error

12 – 15

COMM_ALM

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R7G4HML3-6-PA1Ax

ID_CODE
ID_CODE is following.
ID_CODE NAME
01H
02H
03H
04H
05H
06H

Vendor ID CodeDevice CodeDevice Version
Device Definition File version
Extended Address Setting
Serial No.

10H
11H
12H
13H
14H
15H
16H
17H
18H

Profile Type 1
Profile Version 1
Profile Type 2
Profile Version 2
Profile Type 3
Profile Version 3
Min. Transmission Cycle
Max. Transmission Cycle
Increments of Transmission
Cycle
Min. Communication Cycle
Max. Communication Cycle
Transmission Bytes
Transmission Bytes (Current
Setting)
Profile Type (Current Selection)
Supported Communication
Mode
MAC Address
List of Supported Main Commands

19H
1AH
1BH
1CH
1DH

SIZE
VALUE
SUPPORT
REMARKS(BYTES)(HEXADECIMAL)
4
Yes
0x00000021
M-SYSTEM CO., LTD.
4Yes
0x00000200
R7G4HML3-6-PA1
4
Yes
Firmware version E.g. 1.00 -> 0x0064
4Yes
0x00001000
4Yes
0x00000001
32
Yes
Unit serial
E.g. AB123456 -> 0x32314241
number
0x36353433
0x00000000
0x00000000
0x00000000
0x00000000
0x00000000
0x00000000
4Yes
0x00000030
Standard I/O profile
4
Yes
0x00000100
4Yes
0x000000FF
Indicates the unit does not support
4Yes
0x00000000
4Yes
0x000000FF
Indicates the unit does not support
4Yes
0x00000000
4Yes
0x000030D4
125 µsec.
4Yes
0x0061A800
64 msec.
4Yes
0x00000001
Available to 31.25, 62.5, 125, 250, 500 [µsec.]& 1 – 64 [msec.] (1 msec. increments)
4Yes
0x000030D4
125 µsec.
4Yes
0x0061A800
64 msec.
4Yes
0x00000002
16 Bytes
4Yes
0x00000002
16 Bytes
4

Yes

4

Yes

4
32

No
Yes

32

No

40H
80H

List of Supported Sub Commands
List of Common Parameters
Main Device Name

32
32

No
Yes

90H
98H
A0H
A8H
B0H
B8H

Sub Device 1 Name
Sub Device 1 Version
Sub Device 2 Name
Sub Device 2 Version
Sub Device 3 Name
Sub Device 3 Version

4
32
4
32
4
32

No
No
No
No
No
No

20H
21H
30H

38H

0x00000001 /0x00000030
0x00000003---0x0000C079
0x00000001
0x00000000
0x00000000
0x00000000
0x00000000
0x00000000
0x00000000------0x34473752
0x334C4D48
0x532D362D
0x00003141
0x00000000
0x00000000
0x00000000
0x00000000-------------------MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEvent-driven communication / Cyclic communication
Event-driven communication / Cyclic communication
ALM_CLR, ALM_RD, CONFIG, ID_RD,
NOP, DISCONNECT, CONNECT,
DATA_RWA“R7G4HML3-6-PA1”

EM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

I/O DATA DESCRIPTION■ PULSE POSITION CONVERTION
Byte n+1

Byte n70 7

0
Lower 16 bit

Byte n+3

Byte n+270 70Upper 16 bit

Position conversion data is represented in 16-bit binary. Negative value is represented in 2’s complements.

■ PULSE SPEED DATA
Byte n+1

Byte n70 7

016 BitSpeed data is represented in 16-bit binary. Negative value is represented in 2’s complements.

STATUS DESCRIPTION
Byte11
7

Byte100 7

0CH0 External latch completed (0 → 1 external latch completed at rising edge,
CH0 External latch detect command 1 → 0 clear status)
CH0 Z latch completed* (0 → 1 Z latch completed at rising edge,
CH0 Z latch detect command 1 → 0 clear status)
CH0 Z pulse* (0: OFF 1: ON)
Not used (always 0)* Available when the firmware version is V1.11 or later

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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R7G4HML3-6-PA1Ax

COMMAND DESCRIPTION■ POSITION DATA
Byte5
7

Byte4
0 7

0

CH0 Position data (00: Current position, 01: Latched position,
10: Position at reset, 11: Position at preset)
CH0 Reset (0→1 Reset at rising edge)
CH0 Latch (0→ Latch at rising edge)
CH0 Clear latched data (0→1 Clear at rising edge)
CH0 Position at reset clear (0→1 Clear at rising edge)
CH0 Open collector output A (0: OFF 1: ON)
CH0 Open collector output B (0: OFF 1: ON)
CH0 Preset (0→1 Set at rising edge)
CH0 External latch detect (0: invalid/clear status 1:valid)
CH0 Z latch detect* (0: invalid/clear status 1:valid)
Not used (always 0)
Channel ID (always 01)
After execution of Reset, Latch, Reset data clear, Latch data clear, External latch completion status clear or Z latch completion
status clear command is confirmed, set the corresponding bit “0.” If the bit remains “1,” the command is not available for the nexttime.
Open collector output, External latch detect and Z latch detect* commands are available when the command is set enable with the
R7CFG, PC configurator software.
When External latch detect and Z latch detect compete as they both are set to valid, it is not possible to identify latch data obtainedat the time depended on which factor.
In the internal latch data buffer, data arising from the latest latch factor is stored.
* Available when the firmware version is V1.11 or later■ SPEED DATA
Byte5
7

Byte4
0 7

0

CH0 Speed data (00: Current speed)Not used (always 0)
CH0 Open collector output A (0: OFF 1: ON)
CH0 Open collector output B (0: OFF 1: ON)
Not used (always 0)
Channel ID (always 01)
Open collector output command is available when the command is set enable with the R7CFG, PC Configurator software.

MG CO., LTD. www.mgco.jp
5-2-55 Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPANEM-7772-E Rev.4

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