Mitsubishi Electronics MR-J2S- A Protocol, Transmission of data from the controller to the servo

14. COMMUNICATION FUNCTIONS

14.3 Protocol

POINT

Whether station number setting will be made or not must be selected if the RS-232C communication function is used. Note that choosing "no station numbers" in parameter No. 53 will make the communication protocol free of station numbers as in the MR-J2-A servo amplifiers.

Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No., etc. to determine the destination servo amplifier of data communication. Set the station number to each servo amplifier using the parameter and set the group to each station using the communication command. Transmission data is valid for the servo amplifier of the specified station number or group.

When "*" is set as the station number added to the transmission data, the transmission data is made valid for all servo amplifiers connected. However, when return data is required from the servo amplifier in response to the transmission data, set "0" to the station number of the servo amplifier which must provide the return data.

(1) Transmission of data from the controller to the servo

Controller side	S
	O
(Master station)
	H

Servo side (Slave station)

Command	S	Data
	T
		No.
	X

Station number

or

group

	E		10 frames		(data)
		Check
					Station number
Data*	T
		sum					or
	X
						group
				S	code	E
								Check
				T	Error	T		sum
				X		X

6 frames

Positive response: Error code A

Negative response: Error code other than A

14 - 5