13 - 5
13. COMMUNICATION FUNCTIONS
13.3 ProtocolSince up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. todetermine the destination servo amplifier of data communication. Set the station number to each servoamplifier using the parameter. Transmission data is valid for the servo amplifier of the specified stationnumber.(1) Transmission of data from the controller to the servo
S
O
H
S
T
X
E
T
X
S
T
X
E
T
X
Data
No. Data* Check
sum
10 frames + (data)
Error code
Check
sum
6 frames
Positive response: Error code = A
Negative response: Error code = other than A
Servo side
(Slave station)
Controller side
(Master station)
Command
Station number
Station number
(2) Transmission of data request from the controller to the servo
S
O
H
S
T
X
E
T
X
S
T
X
E
T
X
Controller side
(Master station)
Servo side
(Slave station)
10 frames
Command
Data
No. Check
sum
Error code
Data* Check
sum
6 frames + (data)
Station number
Station number
(3) Recovery of communication status by time-out
E
O
T
or
Controller side
(Master station)
Servo side
(Slave station)
EOT causes the servo to return to
the receive neutral status.
Data
4 frames
Data
8 frames
or 12 frames or 16 frames
* Data: Choose the data length from among 4, 8, 12 and 16 frames (data length depends on the command).