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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 "n o
station numbers" in parameter No. 53 will make the communica tion
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 sta tion nu mber to th e com mand, data N o., e tc. to
determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter. Transmission dat a is valid fo r the servo amplifier of the spec ified stat ion
number or group.
When "*" is set as the station number ad ded to the transmi ssion data, the tran smission data is mad e
valid for all servo amplifiers connected. Howev er, when retur n data is re quired fro m the servo amplif ier
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 contr oller 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)
Station number
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