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DYN2MS-02F-0116A17
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Transmission
The DYN servo drive is always under command from host controller. When a function is called, the servo drive
will move the servo motor, return a data packet with the requested information, or set a parameter value. Once
a complete data packet has been received, the servo drive will not return any confirmation or acknowledgement
code. The command motion will be immediately run, requested data will be returned, or new parameter is saved.
The subroutine in Section 7.5A Appendix should be implemented to automatically generate a full data packet.
Otherwise, the host controller must ensure each data packet is complete and accurate before transmission.
7.1 Interface and Format
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Reception
The DYN servo drive follows same data packet format and structure when returning data. Each data packet is
sent one byte at a time consisting of 8 data bits and two start stop bits for a total of 10 bits. Each byte will be sent
sequentially until complete packet is sent.
The host controller must process received data in shift register as soon as each byte is transmitted to avoid
overflow and garbage data. Alternatively, the receiver shift register buffer must have enough address to store
complete packet. The DYN servo drive will send each byte immediately after another, so at 38400 baud, each
byte will take approximately 260us to transmit - host controller should read or sample at this rate or faster when
receiving data.
