Panasonic MINAS A5 Series Operating Instructions Manual page 381

4. Communication
Specifications
Class No.
5 31
5 29
5 30
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.
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
ACK ..... When the received block is judged normal, the module (host or driver) will
NAK ..... When the received block is judged abnormal, NAK will be sent. A judgment is
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Caution
Module recognition byte... Make the Pr5.31 value of the front panel as a module ID,
and data which makes its bit7 as 1, becomes a module recognition byte.
bit7
1
Module ID : The module ID of the host side will be 0 in case of RS485 communica-
tion, therefore set up Pr5.31 of MINAS-A5 to 1 to 31.
Note
nector for External Scale).
Phone: 800.894.0412 - Fax: 888.723.4773 - Web: www.clrwtr.com - Email: info@clrwtr.com
Setup
Title
value
0 to
Set the axis number for serial communication to 0 to 31.
Axis address
127
This parameter setup value has no effect on servo operation.
Set up the communication speed of RS232 communication.
Baud rate
0 to
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
setup of RS232
6
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
communication
Set up the communication speed of RS485 communication.
Baud rate
0 to
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps],
setup of RS485
6
4 : 38400[bps], 5 : 57600[bps], 6 : 115200[bps]
communication
1000 / 9600 × (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit
Code
05h (Module recognition byte of the transmitted)
04h (Module recognition byte of the transmitted)
06h
15h
block. The line enters to a transmission mode when ENQ is transmitted and
EOT is received.
send out ACK.
based on checksum and timeout.
bit6 bit5
0 0
Function
Stop bit
Data
Enquire for transmission
Negative acknowledgement
bit4 bit3 bit2
0 Module ID
Function
Ready for receiving
Acknowledgement
bit1 bit0
-
7-31
1
2
3
4
5
6
7