Panasonic minas a4 series Instruction Manual page 284

Communication
Communication Method
Communication baud rate
Data
Parity
Start bit
Stop bit
• Set up the RS232 communication baud rate with Pr0C, and RS485 communication baud rate with Pr0D.
The change of these parameters will be validated after the control power entry. For details, refer to the
following list of parameters related to communication.
List of User Parameters for Communication
Title of parameter Setup range
PrNo.
00 Axis address
Baud rate setup of
0C
RS232 communication
Baud rate setup of
0D
RS485 communication
• Required time for data transmission per 1 byte is calculated in the following formula in case of 9600[bps].
Note that the time for processing the received command and time for switching the line and transmission/
reception control will added to the actual communication time.
• Handshake code
Following codes are used for line control.
Title
ENQ
EOT
ACK
NAK
ENQ ... The module (host or driver) sends out ENQ when it has a block to send.
EOT .... The module (host or driver) sends out EOT when it is ready to receive a block. The line enters to
a transmission mode when ENQ is transmitted and EOT is received.
ACK .... When the received block is judged normal, the module (host or driver) will send out ACK.
NAK .... When the received block is judged abnormal, NAK will be sent. A judgment is based on checksum
and timeout.
<Caution>
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byte... Make the RSW value of the front panel as a module ID, and data which makes
its bit7 as 1, becomes a module recognition byte.
bit7 bit6
1 0
Module ID : The module ID of the host side will be 0 in case of RS485 communication, therefore set up
RSW of MINAS-A4 to 1- F.
282
RS232
Full duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
Check the RSW (ID) value of the front panel at control power-on.
0 – 15 This value becomes the axis number at serial communication.
Setup value of this parameter has no effect to servo action.
Set up the communication speed of RS232C communication.
0 – 5 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Set up the communication speed of RS485 communication.
0 – 5 0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
1000 / 9600 x (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit
Data
Code
05h (Module recognition byte of the transmitted)
04h (Module recognition byte of the transmitted)
06h
15h
bit5 bit4
0
2400,4800,9600,19200,38400,57600bps
Functions/contents
Stop bit
bit3
0
RS485
Half duplex, asynchronous
8 bit
none
1 bit
1 bit
Function
Enquire for transmission
Ready for receiving
Acknowledgement
Negative acknowledgement
bit2 bit1
Module ID
bit0