Panasonic MINAS A5-series Operating Instructions Manual page 330

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-A5s with RS485 communication. Following flow chart describes the
actual flow of the communication data when you want to capture the absolute data of
the module ID=1.
e.g. of system composition
e.g. of capturing the absolute data
Following shows the communication data in time series when you want to capture the
absolute data. Data is presented in hexadecimals.
RS232 communication
Host
MINAS-A5 (0)
Host
MINAS-A5 (0)
*
RS485 communication
MINAS-A5 (0)
MINAS-A5 (1)
MINAS-A5 (0)
MINAS-A5 (1)
MINAS-A5 (0)
MINAS-A5 (1)
Caution
See the below for the captured data. Refer to P.7-48, "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.
7-34
Pr5.31=0
RS232
Host
05
(ENQ)
04
(EOT)
03 11 00
81 05
(ENQ)
81
(EOT)
0B 01 D2
00 00 36
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
Pr5.31=1
RS485 RS485
X2 X2
00 01 D2 2D
(ACK)
Obtain data with RS485
(see the below)
00 D8 FF 01
00 01 D2
04
03 11 00 00
06
(ACK)
Pr5.31=2 Pr5.31=3
RS485
X2
04
(EOT)
06 05 0B
(ENQ)
00 00 00 00
2D
06 80 05
(ACK) (ENQ)
D8 FF 01 00
X2
01 D2
06
(ACK)
36
80 04
(EOT)
00