Message Format - Mitsubishi MR-JE series Instruction Manual

3. SLMP

3.2 Message format

The following shows the request message format to be used when the master station (external device)
sends a message, and the response message formats to be used when the slave stations (servo amplifiers)
return a message.
(1) Request message format
Ethernet IP UDP
header header header
(2) Response message format
The response message has two different formats for normal completion and abnormal completion.
(a) At normal completion
Ethernet IP UDP
header header header
(b) At abnormal completion
Ethernet IP UDP
header header header
SLMP
Request Request
Subheader destination destination
network No. station No.
SLMP
Request Request
Subheader destination destination
network No. station No.
SLMP
Request Request
Subheader
destination destination
network No. station No.
SLMP
Request Request
Request
destination destination
data
module multi-drop
length
I/O No. station No.
Request Request
Response
destination destination
data
module multi-drop
length
I/O No. station No.
Request Request
Response
destination destination
data
module multi-drop
length
I/O No. station No.
Network No. Station No.
destination
End code (responding (responding
station) station)
3 - 2
Monitoring
Request data
timer
End code Response data
Request Request
destination
Command
command
module multi-drop
I/O No. station No.
Error information
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