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15 -  9 

15. COMMUNICATION FUNCTIONS 

 
15.7 Time-out operation 

The master station transmits EOT when the slave station does not start reply operation (STX is not 
received) 300[ms] after the master station has ended communication operation. 100[ms] after that, the 
master station retransmits the message. Time-out occurs if the slave station does not answer after the 
master station has performed the above operation three times. (Communication error) 

E
O
T

300ms

100ms

E
O
T

300ms

100ms

E
O
T

300ms

100ms

300ms

Me

ss

ag

e

Me

ss

ag

e

Me

ss

ag

e

Me

ssa

ge

*Time-out

Controller
(Master station)

Servo
(Slave station)

 

15.8 Retry operation 

When a fault occurs in communication between the master and slave stations, the error code in the 
response data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the 
master station retransmits the message which was sent at the occurrence of the fault (Retry operation). A 
communication error occurs if the above operation is repeated and results in the error three or more 
consecutive times. 

M

essage

M

e

ssage

Me

ss

ag

e

*Communication error

Controller
(Master station)

Servo
(Slave station)

S
T
X

S
T
X

S
T
X

Station number

or

group

Station number

or

group

Station number

or

group

 

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the 
slave station, the master station retransmits the message which was sent at the occurrence of the fault. A 
communication error occurs if the retry operation is performed three times.