Mitsubishi Electric MR-J4-_GF, Instruction Manual

Page: 29 / 274

3. SLMP
3 - 2
3.2 Message format
The following shows the request message format to be used when the master station (external device)
sends a message, and the response message formats to be used when the slave stations (servo amplifiers)
return a message.
(1) Request message format
Ethernet
header
Request data
Request
destination
network No.
Subheader
SLMP
UDP
header
IP
header
Request
destination
module
I/O No.
Request
destination
multi-drop
station No.
Request
data
length
Monitoring
timer
Footer Request
destination
station No.
(2) Response message format
The response message has two different formats for normal completion and abnormal completion.
(a) At normal completion
Ethernet
header
Response data
Request
destination
network No.
Subheader
SLMP
UDP
header
IP
header
Request
destination
multi-drop
station No.
Response
data
length
End code
Footer
Request
destination
station No.
Request
destination
module
I/O No.
(b) At abnormal completion
Sub
command
SLMP
Network No.
(responding
station)
Request
destination
multi-drop
station No.
Station No.
(responding
station)
End code Command
Error information
Footer
Ethernet
header
Request
destination
network No.
Subheader
SLMP
UDP
header
IP
header
Request
destination
multi-drop
station No.
Response
data
length
Request
destination
station No.
Request
destination
module
I/O No.
Request
destination
module
I/O No.