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5. Type R Interface <br />
5.8.5 Communication Method, Timing Chart<br />
1Communication Method (Normal Operation)<br />
Command issue<br />
Status response<br />
<br />
<br />
Time until the slave sends the status response after receiving the command: MinimumT1/<br />
MaximumT2<br />
Time until the master is able to issue commands after receiving the status: Minimum of 1ms<br />
1 The master sends all commands with an address attached to the header (Packet length).<br />
2 Slave devices can only transmit immediately after receiving a command with their own<br />
address.<br />
3 Slave devices send the status response with their address attached to the header.<br />
4 After receiving the command, the slave device must start responding after [T1] but before [T2]<br />
is over.<br />
5 After the master receives the response from the slave, it can issue the next command after<br />
[T1] has passed.<br />
6 If there is no response from the slave after [T3], it will be considered a time-out error, and the<br />
master can issue the next command. (It is possible to re-issue the command.)<br />
7 If the slave doesn’t complete receiving the data until [T3] is over, it discards the data received,<br />
and interprets the next data as a header (packet length).<br />
8 If there is a communication error, the master stops issuing commands after [T3] and clears<br />
the receive buffer of the slave device.<br />
9 If there is a communication error, the slave discards the data received, and does not send a<br />
response. A communication error is shown by opening the line longer than [T3].<br />
10 If the slave receives a command that is not a pre-set command, it returns the command<br />
error status.<br />
Note 1: During control power connection / cutoff, when the CPU is not working due to unstable<br />
control power, the amplifier may output some arbitrary data, which should be ignored by the user.<br />
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