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5. Type R Interface <br />
2 Status ResponseSlave Master<br />
Packet Length Address Transmission Status Response Data Checksum<br />
byte byte byte byte byte<br />
Packet Length <br />
Shows the number of bytes in one packet in hexadecimal notation.<br />
Packet length Number of returned databytes(N)4<br />
Address<br />
Returns the address of the status response-originating slave device in hexadecimal notation.<br />
Communication Status<br />
The communication status byte contains information about the communication status of the last<br />
command sent, the device status, etc. for the slave.<br />
<br />
Description<br />
<br />
Data<br />
<br />
Operation complete <strong>Inc</strong>omplete Complete<br />
In-Position status Out of range Within range<br />
Amplifier alarm status Normal Alarm<br />
Servo ON status SOFF SON<br />
Limitboth soft and hard Out of Limit Within Limit<br />
Command error Normal Error<br />
<br />
STOP control status<br />
Normal<br />
status<br />
STOP status<br />
No function assigned <br />
Command error is generated when the following conditions are met:<br />
If a non-preset command is received.<br />
If a command that is not receivable due to the status of the amplifier is received.<br />
Response Data<br />
The number of bytes in the response data depends on the command sent and the data.<br />
Responses to commands other than RD commands do not have data attached.<br />
Data longer than 2 bytes is sent in lower-higher order.<br />
Checksum<br />
The checksum is calculated by adding all bytes except the checksum, and taking the lowest<br />
byte.<br />
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