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5. Type R Interface 5.8.5 Communication Method, Timing Chart 1Communication Method (Normal Operation) Command issue Status response Time until the slave sends the status response after receiving the command: MinimumT1/ MaximumT2 Time until the master is able to issue commands after receiving the status: Minimum of 1ms 1 The master sends all commands with an address attached to the header (Packet length). 2 Slave devices can only transmit immediately after receiving a command with their own address. 3 Slave devices send the status response with their address attached to the header. 4 After receiving the command, the slave device must start responding after [T1] but before [T2] is over. 5 After the master receives the response from the slave, it can issue the next command after [T1] has passed. 6 If there is no response from the slave after [T3], it will be considered a time-out error, and the master can issue the next command. (It is possible to re-issue the command.) 7 If the slave doesn’t complete receiving the data until [T3] is over, it discards the data received, and interprets the next data as a header (packet length). 8 If there is a communication error, the master stops issuing commands after [T3] and clears the receive buffer of the slave device. 9 If there is a communication error, the slave discards the data received, and does not send a response. A communication error is shown by opening the line longer than [T3]. 10 If the slave receives a command that is not a pre-set command, it returns the command error status. Note 1: During control power connection / cutoff, when the CPU is not working due to unstable control power, the amplifier may output some arbitrary data, which should be ignored by the user. 574
5. Type R Interface 2Communication Method (Abnormal Operation) If the slave device did not send a status response (but a return response is sent) Master Command issue Transmission enable Slave Status response Transmission enable Status response does not work for some reason i) Time until the master can issue the next command if there is no status response after issuing the command: Minimum [T3] If abnormal data is generated Abnormal data Data is interrupted during a packet Communication error occurred due to noise, etc. Master Command issue Slave Status response i In the case of abnormal data (1 packet is not recognizable), the master stops issuing of commands for at least [T3]. ii If there is no communication for at least [T3], the slave discards the previously received unrecognizable data. If the communication continues after [T3], the first data is interpreted as the header (packet length). If the packet is recognizable, it will be processed normally. 575
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M0007846 SANMOTION CLOSED LOOP STEP
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Contents 1. Safety Pre
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Safety Precautions common 1.1 Int
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Safety Precautions common 1.3 Safet
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Safety Precautions common Operati
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