1－1－4． Response Frame Structure And Communication Error(Ver6); Response Frame Structure And Communication Error(Ver6) - Fastech Ezi-Step Plus-R User Manual

1－1－4．Response Frame Structure and Communication Error (Ver6)
When any command is sent, the basic structure of Frame at the response side is identical.
However, there is a difference in case of
as shown below.
Slave ID Frame Type
1 byte 1 byte
①
Slave ID: Same to sending Frame.
(When this is not same to sending data, need to recognize as the error status.)
②
Frame type: Same to sending Frame.
(When this is not same to sending data, need to recognize as the error status.)
③
Data: When simple executive instructi ons are sent, this data cannot be read. However, in case
of response, 1 byte is included to the display of communication status (error / normal status).
The code by bytes means the
Hexa Decimal
Code Code
0 Communication is normal.
0x00
Frame Type Error :
128
0x80
Responded Frame type cannot be recognized.
Data error, ROM data read/write error :
129
0x81
Responded data value is aside from the given range.
Received Frame Error :
130
0x82
Frame data received is out of this specification.
Running Command Failure :
The user has tried to execute new running commands in wrong condition as
follows.
133
0x85
RESET Failure :
The user has tried to execute new running commands in wrong condition as
134 follows.
0x86
CRC Error :
0xAA
170 When received frame data is error by external noise, sending s ide of DLL
Library is automatically trying to send 1 more time of communication signal.
1) If 'Header' and 'Slave ID' values in the sending Frame are abnormal,
Caution
2) If the communication status is displayed to '130', the size of response
Frame Data,
1 byte
Communication status
'Communication status'
1) currently motor is running
2) currently motor is stopping
3) Servo is OFF status
4) try to Z-pulse Origin without external encoder
1) STEP is ON status
2) Already reset status by external input signal
there is no response from the drive.
data is '0' byte.
- 10 -
Communication Protocols
which 'communication sta tus' is added
Data
0~247 bytes
Response data Low byte
as follows.
Description
10
CRC
2 bytes
High byte