Panasonic MINAS A5-series, Operating Instructions Manual

Page: 327 / 394

7-31
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
4. Communication
Specifications
List of User Parameters for Communication
Class No. Title
Setup
value
Function
5 31 Axis address
0 to
127
Set the axis number for serial communication.
This parameter setup value has no effect on servo operation.
5 29
Baud rate
setup of RS232
communication
0 to
6
Set up the communication speed of RS232 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 5 : 115200[bps]
Updated setup of is validated upon turning on of control power.
5 30
Baud rate
setup of RS485
communication
0 to
6
Set up the communication speed of RS485 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
4 : 38400[bps], 5 : 57600[bps], 5 : 115200[bps]
Updated setup of is validated upon turning on of control power.
• Required time for data transmission per 1 byte is calculated in the following formula in
case of 9600[bps].
1000 / 9600 × (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line
and transmission/reception control will added to the actual communication time.
Caution
• Handshake code
Following codes are used for line control.
Title Code Function
ENQ 05h (Module recognition byte of the transmitted) Enquire for transmission
EOT 04h (Module recognition byte of the transmitted) Ready for receiving
ACK 06h Acknowledgement
NAK 15h Negative acknowledgement
ENQ .....The module (host or driver) sends out ENQ when it has a block to send.
EOT .....The module (host or driver) sends out EOT when it is ready to receive a
block. The line enters to a transmission mode when ENQ is transmitted and
EOT is received.
ACK .....When the received block is judged normal, the module (host or driver) will
send out ACK.
NAK .....When the received block is judged abnormal, NAK will be sent. A judgment is
based on checksum and timeout.
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byte... Make the Pr5.31 value of the front panel as a module ID,
and data which makes its bit7 as 1, becomes a module recognition byte.
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
1 0 0 0 Module ID
Module ID :
The module ID of the host side will be 0 in case of RS485 communication, therefore
set up Pr5.31 of MINAS-A5 to 1- 127.