Panasonic ANUJ3000, User Manual

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External control
27
Warning
Warning Warning
Warning
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Commands and responses
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Instructions sent to the controller are called commands.
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Messages returned from the controller are called responses.
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The communications are two-way. (When a command is sent, a response is always returned.)
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Data is sent in ASCII format.
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When a response is not received, this indicates that the transmission format is wrong, the
command has not yet reached its destination, or the controller is not in operation. Check the
communication specifications, such as the transmission speed, data lengths, and parity.
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When a response with “!” instead of “$” stored is received, it indicates that the command has
not been processed correctly. Check the communication error code stored in the response to
identify the error.
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Command/response format
Command message
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Block check code BCC (H) (L)
Binary hexadecimal 00-FF (ASCII-encoded)
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To improve the reliability of transmission data, this encoding enables error detection using longitudinal parity
bits. However, if “**” appears instead of BCCs, transmission is possible without BCCs. Even in this case,
however, BCCs will be included in the response.
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BCCs are created by taking the exclusive OR from the header (<) to the final character of the text, and then
encoding this 8-bit word into a 2-character ASCII code.