Mitsubishi MR-JE series, Инструкция по эксплуатации

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3. SLMP
3 - 3
Item Size Endian Description
Header This header is for TCP/IP and UDP/IP. Add the header on the external device
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.
Subheader
(QnA compatible 3E
frame) 2 bytes Big At a request: H5000
At a response: HD000
Subheader
(QnA compatible 4E
frame) 6 bytes Big At a request: H5400 + Serial H0000
At a response: HD400 + Serial H0000
Request destination
network No. 1 bytes Specify the network No. of the access destination. Specify it in hexadecimal.
Store a value of a request message.
Request destination
station No. 1 bytes 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 Fixed to H03FF
Request destination
multi-drop station No. 1 bytes Fixed to H00
Request data length 2 bytes Little Specify the data length from the monitoring timer to the request data in
hexadecimal.
Example) For 24 bytes: H1800
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.
H0000: Waiting until the processing is completed
H0001 to HFFFF (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 Refer to section 3.3.
Sub command 2 bytes Little Refer to section 3.3.
Response data length 2 bytes Little The data length from the end code to the response data (at normal
completion) or 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 section 3.5 for the 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 TCP/IP and UDP/IP. Add the footer on the external device
side before sending a message.
TCP/IP is supported by servo amplifiers with software version A3 or later.