Panasonic MINAS A6 Series Operating Instructions Manual page 443

4. Communication
Specifications
• Data Block Composition
Below shows the composition of data block which is transmitted in physical phase.
N
axis
command : Control command (0 to 15)
mode
check sum : 2's complement of the total number of bytes, ranging from the top to the
• Protocol Parameter
Following parameters are used to control the block transmission. You can set any
value with the INIT command (described later).
Title
T1 Time out between characters
T2 Protocol time out
T6
Driver response time
RTY
M/S
T1: • Permissible time interval for this driver to receive the consecutive character cods which exists
between the module recognition bytes and ENQ/EOT, or in the transmission/reception data
block. Time out error occurs and the driver returns NAK to the transmitter when the actual recep-
tion time has exceed ed this setup time.
T2: • Permissible time interval for the driver to transmit ENQ and to receive EOT. If the actual recep-
tion time exceeds this setup, this represents that the receiver is not ready to receive, or it has
failed to receive ENQ code in some reason, and the driver will re-transmit ENQ code to the re-
ceiver. (retry times)
• Permissible time interval for the driver to transmit EOT and to receive the reception of the 1st
character code. The driver will return NAK and finishes the reception mode if the actual reception
has exceeded this setup time.
• Permissible time interval for the module to transmit the check sum bytes and to receive ACK.
The module will re-transmit ENQ code to the receiver in the same way as the NAK reception, if
the actual reception time exceeds this setup time.
T6: • Permissible time interval for the driver to receive ENQ and to transmit EOT; Permissible time
interval for the driver to receive the check sum bytes and to transmit ACK; and Permissible time
interval for the driver to receive EOT and to transmit the 1st character.
RTY: Maximum value of retry times. Transmission error occurs if the actual retry has exceeds this setup
value.
M/S: Switching of master and slave. When contention of ENQ has occurred, the module decides which
is to be given priority.
Priority is given to the transmitter which is set up as a master. (0: Slave mode, 1 : Master mode)
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1bytes
N
axis
mode command
Parameter
（N bytes ）
check sum
: Command byte counts (0 to 240)
Shows the number of parameters which are required by command.
: Sets up the value of Pr5.31.(0 to 127)
: Command execution mode (0 to 15)
Contents vary depending on the mode.
end of the block
Function
RS232
RS485
RS232
RS485
RS232
RS485
Retry limit
Master/Slave
Initial value Setup range
5 (0.5 sec)
1 to 255
1 (0.1 sec)
5 (0.5 sec)
1 to 255
1 (0.1 sec)
0 (0 ms) 0 to 255
6 (6 ms) 2 to 255
1 (once) 1–8
0 (Slave) 0, 1 (Master)
1
2
3
4
Unit
0.1 sec
1 sec
1 ms
Once
5
6
7
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