Panasonic MINAS A6 Series Operating Instructions Manual page 441

4. Communication
Specifications
List of User Parameters for Communication
Class No.
5 31
5 29
5 30
• Required time for data transmission per 1 byte is calculated in the following formula in
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.
• Handshake code
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-A6 to 1 to 31.
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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
Updated setup of is validated upon turning on of control power.
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
Updated setup of is validated upon turning on of control power.
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