Panasonic MINAS A6 Series Operating Instructions Manual page 444

4. Communication
Specifications
Example of Data Communication
• e.g. Reference of Absolute Data
When you connect the host to one driver with RS232 communication, and connect
multiple MINAS-A6 with RS485 communication. Following flow chart describes the ac-
tual flow of the communication data when you want to capture the absolute data of the
module ID=1.
Following shows the communication data in time series when you want to capture the
absolute data. Data is presented in hexadecimals.
Host
MINAS-A6（0）
Host
MINAS-A6（0）
※
MINAS-A6（0）
MINAS-A6（1）
MINAS-A6（0）
MINAS-A6（1）
MINAS-A6（0）
MINAS-A6（1）
Caution
See the below for the captured data. Refer to P.7-50, "Read out of Absolute Encoder " of
details of communication command, for the data composition.
Allow 50ms or longer interval for switching the axis while capturing data of multiple axes.
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7-34
e.g. of system composition
Pr5.31=0
RS232
Host
e.g. of capturing the absolute data
RS232 communication
05
（ENQ）
（EOT）
03 11
RS485 communication
81 05
（ENQ）
0B 01
00 00
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
Pr5.31=1
RS485 RS485
X2
00 01 D2 2D
04
（ACK）（ENQ）
Obtain data with RS485
00 00 D8 FF 01
00 01 D2
81 04
（EOT）
D2 03 11 00 00
06
（ACK）
36
Pr5.31=2 Pr5.31=3
RS485
X2 X2
04
（EOT）
06 05 0B 01
(see the below)
00 00 00 00 36
2D 80
（EOT）
06 80 05
（ACK） （ENQ）
D8 FF 01 00 00
X2
D2
06
（ACK）
04