Mitsubishi Electric MR-J4-_GF, Instruction Manual

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2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2 - 1
2. CC-Link IE FIELD NETWORK BASIC PROTOCOL
2.1 Summary
In CC-Link IE Field Network Basic, a command that a master station (controller) sends to slave stations
(servo amplifiers) is called a request message, and a command that the slave stations (servo amplifiers)
send back to the master station (controller) is called a response message.
The master station (controller) sends the request message using the directed broadcast to all slave stations
(servo amplifiers). When the servo amplifier receives the request message, it acquires data for own station
and returns the response message to the master station (controller) using the unicast after the servo
amplifier response time. The servo amplifier response time differs depending on the command to be sent.
Link devices (RWr, RWw, RX, and RY) are used for data communication. The master station (controller)
refreshes links by sending and receiving the request and response messages at a constant cycle.
The servo amplifier reads the received data as an object dictionary to drive a servo motor and return monitor
data.
Master station
(controller)
Constant cycle
Request message (directed broadcast)
Response message (unicast)
Slave station
(servo amplifier)
2.2 Message format
The following shows the request message format to be used when the master station (controller) sends a
message, and the response message format to be used when the slave stations (servo amplifiers) return a
message.
Messages are sent by using UDP/IP.
(1) Request message format
Ethernet
header
Link device (for 16 stations)
(RY, RWw)
Command,
etc.
CCIEF
Basic
header
UDP
header
IP
header
(2) Response message format
Slave
station
notification
information
Ethernet
header
Link device
(RX, RWr)
CCIEF
Basic
header
UDP
header
IP
header