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15. COMMUNICATION FUNCTION
15.3.3 Error codes
Error codes are used in the following cases a nd an error code of single-code length is transm itted.
On receipt of data from the master station, the s lave station sends the error code corresponding to that data to
the master station.
The error code sent in upper case indicates tha t the servo is normal and the one in lower cas e indicates that an
alarm occurred.
Error code
Servo normal Servo alarm Error name Description Remarks
[A] [a] Normal operation Data transmitted was processed properly. Positive response
[B] [b] Parity error Parity error occurred in the transmitted data.
[C] [c] Checksum error Checksum error occurred in the transmitted data.
[D] [d] Character error
Character not existing in the specifications was
transmitted.
[E] [e] Command error
Command not existing in the specifications was
transmitted.
[F] [f] Data No. error
Data No. not existing in the specifications was
transmitted.
Negative response
15.3.4 Checksum
The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exce ption of the first control code (STX or SOH).
Check
Checksum range
ETXSTX or
SOH
Station number
or
group S
T
X
02H
[0]
30H
[A]
41H
[1]
31H
[2]
32H
[5]
35H
[F]
46H
E
T
X
[5] [2]
03H
30H 41H 31H 32H 35H 46H 03H
152H
(Example)
Lower 2 di
g
its 52 is sent after conversion into ASCII code
[
5
][
2
]
.