CHAPTER 13 RS-485 COMMUNICATIONS

13.2.4 Description of Transmission Data

Transmission code

Item

Start code

Count of No. of pieces of

data

Fixed value used by

system

Process status

Connection method

Station No. of amplifier

CMND

MODE

End data

Sequence No.

Count of data section

Data section

BCC

Description (hex.)

5Ah (Fixed)

XXh (Variable)

00h (Fixed)

or

XXh (Fixed)

00h or FFh

7Ah (Fixed)

01h to 1Fh

(Variable)

XXh (Variable)

00h (Fixed)

00h (Fixed)

01h (Fixed)

XXh (Variable)

XXh (Variable)

XXh (Variable)

Function

Start code

Byte counter

Enter the number of bytes from the process status to BCC.

Enter the value specified in the transmission format table.

0xFF for a request command, or 0x00 for a response command.

Station number

Enter the station number identifying the servo amplifier (1 to 31).

Designate the command given to the servo amplifier.

Enter the number of bytes of data section. Max. 108 bytes.

Enter the value of each command.

Check sum

0x00 - (sum of number of bytes from data number count to data section)

13.2.5 Status Data

 Status data (STR1, STR2)

Code

Bit

position

Function

7

Command acceptance

6

Data error

5

Transmission error

STR1

4

Not used

3

Completion of power-on initialization

2

ONLINE/OFFLINE

1

In-position

0

Alarm detection

STR2

7 to 0 Not used

Description

0: Accepted. 1: Not accepted

0: None. 1: Yes

0: None. 1: Yes

0: Fixed

0: Initialization finished.

1: Being initialized

0: ONLINE,1: OFFLINE

0: Moving. 1: Motion finished

0: None. 1: Yes

0: Uncertain

(Area used by manufacturer)

 Bit position (STR1)

7

0

0

Alarm detection

In-position

ONLINE/OFFLINE

Completion of power-on initialization

(Not used)

Transmission error

Data error

Command acceptance

13

PC Loader Communications 13-41