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13. COMMUNICATION FUNCTIONS
13.3 Protocol
POINT
Whether station number setting will be made or not must be selected if
the RS-232C communication function is used.
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 unit of data communication. Set the station number per unit using the IFU
parameters. Send data are valid for the unit of the specified station number.
(1) Transmission of data from the controller to the servo
S
O
H
S
T
X
E
T
X
S
T
X
E
T
X
Data
No.
Data*
Check
sum
10 frames (data)
Station number
Error code
Check
sum
6 frames
Positive response: Error code A
Negative response: Error code other than A
Slave station
Master station
Command
Station number
(2) Transmission of data request from the controller to the servo
S
O
H
S
T
X
E
T
X
S
T
X
E
T
X
Master station
Slave station
10 frames
Command
Data
No.
Check
sum
Error code
Data*
Check
sum
6 frames (data)
Station number
Station number
(3) Recovery of communication status by time-out
E
O
T
Master station
Slave station
EOT causes the servo to return to
the receive neutral status.
(4) Data frames
The data length depends on the command.
or
Data
4 frames
Data
8 frames
or 12 frames or 16 frames