Protocol - Mitsubishi Electric Melservo-J2-JR SERIES Instruction Manual

13. COMMUNICATION FUNCTIONS

13.3 Protocol

Since up to 32 axes may be connected to the bus, add a station number to the command, data No., etc. to
determine the destination servo amplifier of data communication. Set the station number to each servo
amplifier using the parameter. Transmission data is valid for the servo amplifier of the specified station
number.
(1) Transmission of data from the controller to the servo
S
Controller side
O
(Master station)
H
Servo side
(Slave station)
(2) Transmission of data request from the controller to the servo
S
Controller side O
(Master station)
H
Servo side
(Slave station)
(3) Recovery of communication status by time-out
E
Controller side
O
(Master station)
T
Servo side
(Slave station)
* Data: Choose the data length from among 4, 8, 12 and 16 frames (data length depends on the command).
S
Data
T Data*
No.
X
10 frames
S E
Data Check
T T
No. sum
X X
EOT causes the servo to return to
the receive neutral status.
or
Data
4 frames
10 frames
E
Check
T
sum
X
S
T
X
6 frames
Positive response: Error code = A
Negative response: Error code = other than A
S
T
X
Data
8 frames
13 - 5
(data)
E
Check
T
sum
X
E
Data* T
X
6 frames (data)
or 12 frames or 16 frames
Check
sum