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Communication
ENQ ... The module (host or driver) sends out ENQ when it has a block to send.
EOT .... The module (host or driver) sends out EOT when it is ready to receive a block. The line enters to
a transmission mode when ENQ is transmitted and EOT is received.
ACK .... When the received block is judged normal, the module (host or driver) will send out ACK.
NAK .... When the received block is judged abnormal, NAK will be sent. A judgment is based on checksum
and timeout.
<Caution>
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byte... Make the RSW value of the front panel as a module ID, and data which makes
its bit7 as 1, becomes a module recognition byte.
Module ID : The module ID of the host side will be 0 in case of RS485 communication, therefore set up
RSW of MINAS-A4 to 1- F.
Communication Method
RS232
Full duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
Communication baud rate
Data
Parity
Start bit
Stop bit
RS485
Half duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
• Required time for data transmission per 1 byte is calculated in the following formula in case of 9600[bps].
1000 / 9600 x (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line and transmission/
reception control will added to the actual communication time.
List of User Parameters for Communication
PrNo.
00
0C
0D
Axis address
Baud rate setup of
RS232 communication
Baud rate setup of
RS485 communication
Check the RSW (ID) value of the front panel at control power-on.
This value becomes the axis number at serial communication.
Setup value of this parameter has no effect to servo action.
Set up the communication speed of RS485 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Set up the communication speed of RS232C communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Title of parameter
Setup range
0 – 15
0 – 5
0 – 5
Functions/contents
• Handshake code
Following codes are used for line control.
Code
05h (Module recognition byte of the transmitted)
04h (Module recognition byte of the transmitted)
06h
15h
Title
ENQ
EOT
ACK
NAK
Function
Enquire for transmission
Ready for receiving
Acknowledgement
Negative acknowledgement
bit7
1
bit6
0
bit5
0
bit4
0
bit3 bit2 bit1 bit0
Module ID
• Set up the RS232 communication baud rate with Pr0C, and RS485 communication baud rate with Pr0D.
The change of these parameters will be validated after the control power entry. For details, refer to the
following list of parameters related to communication.