Instruction manual
13.
COMMUNICATION FUNCTIONS
13.3
Protocol
Since up to
32
axes may be connected to the bus, add a station number to the command, data
No.,
etc. to
determine the destination servo ampMer of data communication. Set the station number to each servo
amphfier using the parameter. Transmission data
is
vahd for the servo amphfier
of
the specfied station
number.
(1)
Transmission of data from the controller to the
servo
I
I
10 frames
+
(data)
Positive response: Error code
=
A
Negative response: Error code
=
other than
A
(2)
Transmission of data request from the controller to the servo
10
frames
L
I I I
m
sz
-z
E
Check Data
E
Controller side
m
X
E,
H
(Master station)
E
0
No.
sum
X
mv
I
I I
L
I
I
I
m
R
SES
=8
E
Servo side
sum
X
g
.;
x
(Slave station)
Check
Data'
TE-
m
I
.....
I
I
6 frames
+
(data)
(3)
Recovery
of
communication status
by
time-out
-
EOT
causes the servo
to
return
to
Controller side
T
(Master station)
0
E
the receive neutral status.
Servo side
(Slave station)
*
Data: Choose the data length from among
4,
8,
12 and 16 frames (data length depends on the command).
Or
;'-I
or 12 frames or 16 frames
4
frames
0
frames
13-
5