S5110218D-3/29
Table of contents
1. Outline ........................................................................4
1.1. Reference materials.......................................................................................................................................................................................................4
1.2. General specification .....................................................................................................................................................................................................4
1.3. Configuration......................................................................................................................................................................................................................5
1.3.1. RS-232C:......................................................................................................................................................................................................................5
1.3.2. RS-422A / RS-485A:............................................................................................................................................................................................5
2. Wiring .........................................................................6
2.1. Wiring examples ................................................................................................................................................................................................................6
2.1.1. Wiring example for RS-232C communication............................................................................................................................................6
2.1.2. Wiring example for RS-422A and RS-485A communication .............................................................................................................7
2.2. Optional parts....................................................................................................................................................................................................................9
2.2.1. Connecting to single servo amplifier ..............................................................................................................................................................9
2.2.2. Connecting to multiple-servo amplifier......................................................................................................................................................10
3. Protocol ......................................................................12
3.1. Outline of protocol.......................................................................................................................................................................................................12
3.2. Communication format...............................................................................................................................................................................................12
3.2.1. Communication format configuration..........................................................................................................................................................12
3.2.2. Description of each field....................................................................................................................................................................................13
3.3. Communication sequence........................................................................................................................................................................................14
3.3.1. Sequence of request for/ response to message..................................................................................................................................14
3.4. Error response................................................................................................................................................................................................................16
3.5. Send and receive mode control of RS-485A.................................................................................................................................................17
4. Code and data .................................................................18
4.1. List of command/ response code........................................................................................................................................................................18
4.2. Specification of codes and data............................................................................................................................................................................19
4.2.1. NOP command “01”............................................................................................................................................................................................19
4.2.2. Servo amplifier model number readout, command “0A”: .................................................................................................................19
4.2.3. Servo motor model number readout, command “0B”:.......................................................................................................................20
4.2.4. Program revision readout, command “0C”:.............................................................................................................................................20
4.2.5. Error response, command “0F” (replied by Slave only):...................................................................................................................21
4.2.6. Parameter write, command ”10”: .................................................................................................................................................................22
4.2.7. Parameter readout, command “11”:............................................................................................................................................................23
4.2.8. Alarm code readout, command “12”:..........................................................................................................................................................24
4.2.9. Alarm reset, command “21”:...........................................................................................................................................................................25
4.2.10. Encoder Clear, command “22”:...................................................................................................................................................................26
5. Setting of servo amplifier.....................................................27
6. Examples of communication......................................................28
