Mitsumi electronic MR-J3- A Manual De Usuario
13 - 5
13. COMMUNICATION FUNCTION
13.3 Protocol
13.3.1 Transmission data configuration
Since up to 32 axes may be connected to the bus, add a station number 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. Transmission data is valid for the servo amplifier of the specified station number.
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
determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter. Transmission data is valid for the servo amplifier of the specified station number.
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
S
O
H
O
H
S
T
X
T
X
E
T
X
T
X
S
T
X
T
X
E
T
X
T
X
Data
No.
Data*
10 frames (data)
Station number
Err
or code
6 frames
Positive response: Error code A
Negative response: Error code other than A
Positive response: Error code A
Negative response: Error code other than A
Servo side
(Slave station)
(Slave station)
Controller side
(Master station)
(Master station)
Comm
a
nd
Station number
Check-
sum
Check-
sum
(2) Transmission of data request from the controller to the servo
S
O
H
O
H
S
T
X
T
X
E
T
X
T
X
S
T
X
T
X
E
T
X
T
X
Controller side
(Master station)
(Master station)
Servo side
(Slave station)
(Slave station)
10 frames
Co
m
m
and
Data
No.
Erro
r c
od
e
Data*
6 frames (data)
Station number
Station number
Check-
sum
Check-
sum
(3) Recovery of communication status by time-out
E
O
T
O
T
Controller side
(Master station)
(Master station)
Servo side
(Slave station)
(Slave station)
EOT causes the servo to return to
the receive neutral status.
the receive neutral status.
(4) Data frames
The data length depends on the command.
or
Data
4 frames
Data
8 frames
or 12 frames or 16 frames