Mitsubishi Electric MR-J4, Instruction Manual

Page: 534 / 794

14. COMMUNICATION FUNCTION (MITSUBISHI GENERAL-PURPOSE AC SERVO PROTOCOL)
14 - 5
14.3 Protocol
14.3.1 Transmission data configuration
Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier
using the parameters. Transmission data is enabled for the servo amplifier of the specified station No.
When "*" is set as the station No. added to the transmission data, the transmission data is enabled 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 No. of the servo amplifier which must provide the return data.
(1) Transmission of data from the controller to the servo
Date*
SOH
STX
Command
Data
No.
ETX
STX ETX
Checksum
Checksum
10 (data)
6 frames
Positive response: Error code = A
Negative response: Error code = other than A
Station No.
Station No.
Controller side
(master station)
Servo side
(slave station)
Error c
ode
(2) Transmission of data request from the controller to the servo
Data*
SOH
STX
Command
Data
No.
ETX
STX ETX
Checksum
Checksum
Station No.
Station No.
Controller side
(master station)
Servo side
(slave station)
Error c
ode
10 frames
6 (Data)
(3) Recovery of communication status by time-out
EOT causes the servo to return to the receive neutral status.
EOT
Controller side
(master station)
Servo side
(slave station)
(4) Data frames
The data length depends on the command.
12 frames Data
4 frames
Data
8 frames
or
or or 16 frames