Slmp - Mitsubishi Electric MR-J5-G User Manual

SLMP

Outline
• When sending commands from multiple master stations to one servo amplifier, some commands may not
be received if the command transmission interval is too short. If there is no command response, increase
the command transmission interval.
SLMP (SeamLess Message Protocol) is a common protocol for seamless inter-application communication that does not
consider network hierarchies and boundaries. SLMP communication is possible if the connection is made to an external
device such as a programmable controller, personal computer, or display that can send and receive messages using the
SLMP control procedure. Servo amplifiers only support binary codes. ASCII codes are not supported.
In SLMP, the command sent from the master station (external device) to the slave station (servo amplifier) is called a request
message, and the command sent from the slave station (servo amplifier) to the master station (external device) is called a
response message.
When a servo amplifier receives a request message, it returns the response message to the external device after the
response time of the servo amplifier has passed.
The external device cannot send the next request message until the response message has been received.
Master station (external device)
Slave station (servo amplifier)
*1 The servo amplifier response time varies depending on the command to be sent.
Message format
The request message sent from the master station (external device) and the response message returned from the slave
station (servo amplifier) are sent in the following message format.
■Request message format
SLMP
Ethernet IP UDP
header header header
Subheader
■Response message format
There are two types of response messages, one for normal termination and one for abnormal termination.
• At normal termination
SLMP
Ethernet IP UDP
header header header
Subheader
• At abnormal termination
SLMP
Ethernet IP UDP
header header header
Subheader
Request
message
Response
message
Servo amplifier response time
Request
Request
Request
destination
destination
destination
module
station No.
network No.
I/O No.
Request
Request
Request
destination
destination
destination
module
station No.
network No.
I/O No.
Request
Request
Request
destination
destination
destination
module
station No.
network No.
I/O No.
SLMP
End code
Request
message
*1
Request
destination Request Monitoring
multi-drop data length timer
station No.
Request
Monitoring
destination Request
multi-drop data length timer
station No.
Request
destination Response
multi-drop data length
station No.
Network Station Request Request
No. No. destination destination
(responding (responding module multi-drop
station) station) I/O No. station No.
Error information
2 CC-Link IE Field Network Basic
Response
message
Footer
Request data
Footer
Request data
Footer
Sub
Command
command
81
2.4 APPENDIX
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