Mitsubishi Electric MELSERVO-MR-J4 GF Series, Инструкция по эксплуатации

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30
3 SLMP
3.2 Message format
Item Size Endian Description
Header   This header is for UDP/IP. The header is added on the
external device side before being sent.
TCP/IP is not supported.
Subheader
(QnA compatible 3E frame) 2 bytes Big At a request: 5000h
At a response: D000h
Subheader
(QnA compatible 4E frame) 6 bytes Big At a request: 5400h + Serial 0000h
At a response: D400h + Serial 0000h
Request destination network No. 1 byte  Specify the network No. of the access destination. Specify
it in hexadecimal.
Store a value of a request message.
Request destination station No. 1 byte  Specify the station number of the access destination.
Specify it in hexadecimal.
Store a value of a request message.
Request destination unit I/O No. 2 bytes Little 03FFh (fixed)
Request destination multi-drop
station No. 1 byte

00h (fixed)
Request data length 2 bytes Little Specify the data length from the monitoring timer to the
request data in hexadecimal.
Example) For 24 bytes: 1800h
Monitoring timer 2 bytes Little Set the waiting time until the servo amplifier that had
received a request message from an external device
completes read or write processing.
When the servo amplifier cannot return a response
message within the waiting time, the response message
will be discarded.
• 0000h: Waiting until the processing is completed
• 0001h to FFFFh (1 to 65535): Waiting time (Unit: 0.25 s)
Request data Variable Little Specify the command, sub command, and data that
indicate the request content.
Command 2 bytes Little

Page 31 Command
Sub command 2 bytes Little  Page 31 Command
Response data length 2 bytes Little The data length from the end code to the response data (at
normal completion) or to the error information (at abnormal
completion) is stored in hexadecimal. (Unit: byte)
End code 2 bytes Little The command processing result is stored. "0" is stored at
normal completion. An error code of the servo amplifier is
stored at abnormal completion.
Refer to the following for error codes.

Page 36 Error code
Response data Variable Little The read data and others corresponding to the command
are stored at normal completion.
Error information 9 bytes  The network No. (responding station) (1 byte), station No.
(responding station) (1 byte), request destination module I/
O No. (2 bytes), and request destination multi-drop station
No. (1 byte) of a station that responds an error are stored
at abnormal completion. Numbers that do not correspond
to the content of the request message may be stored
because the information of the station that responds an
error is stored at abnormal completion. The command (2
bytes) and sub command (2 bytes) in which an error
occurs are also stored.
Footer   This footer is for UDP/IP. The footer is added on the
external device side before being sent. TCP/IP is not
supported.