Mitsubishi HD-5000A Instruction Manual download pdf (Page 321)

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15. COMMUNICATION FUNCTIONS

15.9 Initialization

After the slave station is switched on, it cannot reply to communication until the internal initialization

processing terminates. Hence, at power-on, ordinary communication should be started after.

(1) 1s or more time has elapsed after the slave station is switched on; and

(2) Making sure that normal communication can be made by reading the parameter or other data which

does not pose any safety problems.

15.10 Communication procedure example

The following example reads the set value of parameter No.2 "function selection 1" from the servo

amplifier of station 0.

Data item Value Description

Station number 0 Servo amplifier station 0

Command 05 Read command

Data No. 02 Parameter No.2

Checksum 30H 30H 35H 02H 30H 32H 03H FCH

0 2STX ETX50

Yes

[0][0][5] [0][2]

[0]

Axis No. Command

Data No.

Data

Start

Data make-up

Checksum calculation and

addition

Addition of SOH to make

up transmission data

Data transmission

Data receive

Is there receive data?

3 consecutive times?

Error processing

Other than error code

[A] [a]?

Receive data analysis

End

300ms elapsed?

3 consecutive times?

Error processing

100ms after EOT transmission

STX ETX

SOHTransmission data

Master station slave station

46H 43HFC50 STX 0 2ETX

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Mitsubishi HD-5000A Instruction Manual Page 321

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