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14. COMMUNICATION FUNCTION
14.3 Protocol
14.3.1 Transmission data configuration
Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No.,
etc. to determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter and set the group to each station using the communication command.
Transmission data is valid for the servo amplifier of the specified station number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made valid for
all servo amplifiers connected. However, when return data is required from the servo amplifier in response to
the transmission data, set "0" to the station number of the servo amplifier which must provide the return data.
(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
or
group
Error code
Check
sum
6 frames
Positive response: Error code A
Negative response: Error code other than A
Servo side
(Slave station)
Controller side
(Master station)
Command
Station number
or
group
(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
Controller side
(Master station)
Servo side
(Slave station)
10 frames
Command
Data
No.
Check
sum
Error code
Data*
Check
sum
6 frames
(
data
)
Station number
or
group
Station number
or
group
(3) Recovery of communication status by time-out
E
O
T
Controller side
(Master station)
Servo side
(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 frame
s