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[Supplement]
Supplement
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-A4s
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
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3
RS485 RS485 RS485
Host
Allow 500ms or longer interval for switching the axis while capturing data of multiple axes.
<Caution>
See the below for the captured data. Refer to P.299, "Read out of Absolute Encoder " of details of
communication command, for the data composition.
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
04 06 05 0B 01 D2
(EOT) (ACK) (ENQ)
05
(ENQ)
00 01 D2 2D 04
(EOT)
03 11 00 00 D8 FF 01 00 00 00 00 36
06
(ACK)
MINAS-A4 (0)
81 04 06 80 05
(ACK) (ENQ)(EOT)
81 05 00 01 D2 2D 80 04
(ENQ) (EOT)
MINAS-A4 (1)
MINAS-A4 (0)
0B 01 D2 03 11 00 00 D8 FF 01 00 00
MINAS-A4 (1)
MINAS-A4 (0)
00 00 36
06
(ACK)
MINAS-A4 (1)
Host
MINAS-A4 (0)
Host
MINAS-A4 (0)
RS232 communication
RS485 communication
*
Obtain data with RS485
(see the below)