Protocol; Transmission Data Configuration - Mitsubishi Electric MELSERVO-J4 Series Transition Handbook

Part 7: Common Reference Material

4.3 Protocol

4.3.1 Transmission data configuration

Since up to 32 axes may be connected to the bus, add a station No. to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station No. to each servo amplifier
using the parameters. Transmission data is enabled for the servo amplifier of the specified station No.
When "*" is set as the station No. added to the transmission data, the transmission data is enabled for all
servo amplifiers connected. However, when return data is required from the servo amplifier in response to
the transmission data, set "0" to the station No. of the servo amplifier which must provide the return data.
(1) Transmission of data from the controller to the servo
Controller side
(master station)
Servo side
Station No.
(slave station)
(2) Transmission of data request from the controller to the servo
Controller side
(master station)
Servo side
Station No.
(slave station)
(3) Recovery of communication status by time-out
(4) Data frames
The data length depends on the command.
10 frames + (data)
Data
Date*
No.
10 frames
Data
No.
EOT causes the servo to return to the receive neutral status.
Controller side
(master station)
Servo side
(slave station)
or
Data
4 frames
7 - 91
Station No.
6 frames
Positive response: Error code = A
Negative response: Error code = other than A
Station No.
Data*
6 frames + (Data)
Data or 12 frames
8 frames
or 16 frames