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Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers
2.3.5 Error Processing
The NC software determines whether a response from the RX24T is an error and handles error processing if
an error has occurred. The following shows the error determination flow and its details and processing.
Error determination flow
Receive RX24T response
Table 2-5
Modbus frame
Table 2-6
RX24T state
Update RX24T information
held by RX72M
Normal end
Table 2-5 Modbus Frame Judgment
No.
Error Condition
A-1
A response was received during broadcasting.
A-2
A timeout has occurred because a response could not be received.
A-3
The CRC in the received response does not match.
A-4
The function code in the received response is an exception code.
A-5
The function code in the received response does not match.
A-6
The slave address in the received response does not match.
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Error
judgment
Normal
judgment
Error
Normal
Table 2-7
Table 2-8
Figure 2-3 Error Determination Flow
Retry possible?
No
Error processing
Send message to GUI
Erroneous end
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Yes
Re-send Modbus command
Page 37 of 62
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