Instruction manual
13.
COMMUNICATION FUNCTIONS
13.5
Error
Codes
Error codes are used
in
the following cases and an error code
of
single-code length is transmitted.
On receipt
of
data
from
the master station, the slave station sends the error code correspondmg
to
that data
to
the master station. The error code sent
in
upper-case
ind~cates
that the servo is normal and the one
in
lower-case
indcates
that an alarm occurred.
Error
Code
Servo normal
I
Servo alarm
Error Name
Description
Remarks
:
-
~41
Positive response
Data transmitted was processed properly.
Normal operation
[a1
PI
Checksum error occurred in the transmitted data.
Checksum error
[CI [CI
Parity error occurred in the transmitted data.
Parity error
PI
Dl
Command error
[el [El
Character error
[dl
Character not existing in the specifications was
transmitted.
Command not existing in the specifications was
transmitted.
Negative response
*
I
F1
Data No. error
VI
Data
No.
not existing in the specifications was
transmitted.
13.6
Checksum
Checksum range
Checksum range
The check
sum
is a JIS8-coded hexadecimal representing the lower two digts of the sum
of
JIS8-coded
hexadecimal numbers up to ETX, with the exception
of
the
first
control code
(STX
or
SOH).
(Example)
S
E
T
t
121
151
T
[Frl
PI PI
VI
[AI
PI
X
02H
30H
41H 31H
32H
35H
46H 03H
X
~OH+~IH+~IH+~~H+~~IH+~~H+O~H
=
152H
T-
Lower
2
digits
52
is sent after conversion into ASCII code [5][2].
13-
7