Transient Transmission - Mitsubishi Electric MR-J5-G User Manual

Transient transmission

The transient transmission is a function that communicates data only when there is a communication request. Data
communication is performed between stations by using SLMP and other protocols, regardless of the communication cycles.
For CC-Link IE TSN, transient transmission and cyclic transmission are performed using different communication bands in
order to ensure the stability of the cyclic transmission.
Transient transmission in the motion mode
With SLMP, actions such as reading the servo amplifier model code and accessing each object can be performed. For reading
and writing each object, the SDO Download command, SDO Upload command, and other commands are used.
On multi-axis servo amplifiers, SLMP is sent and received by each axis. When sending SLMP to a specific axis of a multi-axis
servo amplifier, specify the axis No. (0 = A-axis, 1 = B-axis, and 2 = C-axis) for the request destination multi-drop station No.
of the SLMP frame.
■Request message format
The data length of request messages is 2047 bytes max.
Ethernet IP UDP
header header header
■Response message format
There are two types of response messages, one for normal termination and one for abnormal termination. The data length of
response messages is 2048 bytes max.
• At normal termination
Ethernet IP UDP
header header header
• At abnormal termination
Ethernet IP UDP
header header header
■SLMP command
The following is a list of SLMP commands.
Command
0101h
4020h
4020h
4020h
4020h
4020h
4020h
*1 The command is executed in the whole station (common to all axes), even if the command is issued to a specific axis of a multi-axis
servo amplifier.
1 CC-Link IE TSN
52
1.4 APPENDIX
SLMP
Request
Request
destination
destination
Subheader
station No.
network No.
SLMP
Request
Request
destination
Subheader destination
station No.
network No.
SLMP
Request
Request
destination
Subheader destination
station No.
network No.
SLMP
Sub command
0000h
0001h
0002h
0005h
0006h
0007h
0008h
Request Request
destination destination Request
module multi-drop data length
I/O No. station No.
Request Request
destination destination Response
module multi-drop data length
I/O No. station No.
Request Request
destination destination
Response
module multi-drop data length
I/O No. station No.
Network Station
End code
No. No. destination
(responding (responding
station) station)
Remark
Model code reading
ReadObject
WriteObject
ObjectSubIDReadBlock
ObjectSubIDWriteBlock
*1
NMT State Upload
*1
NMT State Download
Monitoring
Request data
timer
Response data
End code
Request Request
destination
Command
module multi-drop command
I/O No. station No.
Error information
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