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13. COMMUNICATION FUNCTIONS
13.9 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization
processing terminates. Hence, at power-on, ordinary communication should be started after:
(1) 1s or more time has elapsed after the slave station is switched on; and
(2) Making sure that normal communication can be made by reading the parameter or other data which
does not pose any safety problems.
13.10 Communication Procedure Example
The following example reads the set value of parameter No.2 "function selection 1" from the servo
amplifier of station 0:
Data Item
Value
Description
Station number
0
Servo amplifier station 0
Command
05
Read command
Data No.
02
Parameter No.2
Checksum=30H+30H+35H+02H+30H+32H+03H=FCH
0 2
+ STX +
+ ETX
5
0
Yes
No
Yes
No
No
No
Yes
Yes
Yes
No
= [0][0][5] [0][2]
+
[0]
Axis No. Command
Data No.
Data=
Start
Data make-up
Checksum calculation and
addition
Addition of SOH to make
up transmission data
Data transmission
Data receive
Is there receive data?
3 consecutive times?
Error processing
Other than error code
[A]
⋅
[a]?
Receive data analysis
End
300ms elapsed?
3 consecutive times?
Error processing
100ms after EOT transmission
Master station
→
slave station
Master station
→
slave station
Master station
←
slave station
STX
ETX
46H 43H
SOH +
+ F C
Transmission data=
+
5
0
STX + 0 2 + ETX
