Message Data Structure; Master Message - YASKAWA XTRAWARE - V3.0 Manual

Serial Interface Protocol
6.2.1.

Message Data Structure

♦ A message consists of bytes where each byte holds one digit of
hexadecimal data in ASCII code representation.
♦ The data can be signed or unsigned according to the Command
Operational Code argument type (see Chapter 11, List of Operation
Codes). For signed data the leftmost bit (msb) determines the sign.
♦ Negative number representation is according to standard hexadecimal
representation and to the size of data.
♦ Each messages is a string structured according to one of the formats
specified in the sections that follow, where each block in the format
represents a byte.
♦ Every message in this protocol starts with "N" and terminates with CR
(Carriage Return).
Note:
0x## represents a hexadecimal number.
6.2.2.

Master Message

Format:
N A
→ Pn
Description:
N
Range: N
Description: Axis address
Range: 0x0 – 0xF
Notes: Use Pn000.2 to set Axis address (see XtraDrive User Manual,
Appendix D, List of Parameters).
A
For a broadcast message and when only one XtraDrive is used, address
0x0 is written.
If more than one XtraDrive is used, use addresses 0x1 to 0xF only.
178
M Id1 Id2 C1
S1 S2 CR
XtraDrive message start symbol. Constant value.
C2 V1 V2 P1 . . . P2 →
XtraWare User Manual