user manual

7-37
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
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Idling = It waits for the reception of Module ID, and or it is dealing with reception.
Receiver
Transmitter
Block transmission
Ready for ACK/NAK
Module identification byte
of transmitter is the module
ID | 80h of the counterpart.
Ready for ID Ready for EOT
Ready for ENQ or EOT
Ready for command byte counts
Ready for finish of receiving data
Reception of remained block
Enquiry for
transmission,
and retry times
are within setup
Module
recognition byte,
Transmission
of ENQ,
T2 start
Module ID of opponent
T1 start
ID reception of other than
opponent and at slave
Return ENQ to reception
buffer
(→receipt processing)
Clear of transmission enquiry
Enquiry for transmission,
butretry times are over.
Reset of retry times
Clear of transmission
enquiry
Reception of EOT
Size Command bytes +3
T2 stop
T2 time out
One count of
retry times
T2 stop
Clearance of
transmission
buffering
T1 time out
One count of
retry times
T1 stop
Clearance of
transmission
buffering
Reception of ACK or
T2 time out
Count once of
retry times
T2 stop
Clearance of
transmission buffer
Reception of ACK
Reset of retry times
T2 stop
Clearance of
transmission enquiry
Size becomes 0
Trransmission of
check sum
T2 start
Transmission of
one character
Size←Size - 1
Reception of
module
recognition
bytes
T1 start
Reception of
of EOT
T2 start
T1 time out
T1 stop
Module
identification byte
isnot module ID
and ENQ
reception or
T1 timeout
T1 stop
Success of reception
(Check sum OK'ed and
module recognition
byte is module ID,
when size becomes o.)
Transmission of ACK,
T1 stop
T2 time out
Transmission of NAK
and T2 stop when
module recognition
byte is module ID.
T2 stop in other case
than the above.
Module recognition byte is
module ID and reception of ENQ
Module recognition byte,
Transmission of EOT, T2 start
Reception of command byte counts
Size←command byte counts + 3
Sum←command byte counts
T1 start, T2 stop
Reception of one character
Size
← Size - 1
Sum
← Sum + received character
T1 start
Reception of
one character
T1 start
Failure of reception.
(Check sum error when
size becomes o.)
T1 start
Transmission to other
axis (module recognition
byte is not module ID
when size becomes 0)
T1 stop
T1 time out
Transmission of NAK and
T1 stop when module
recognition byte is
module ID.
T1 stop in other case
than the above.
T1 time out
Transmission
of NAK,
T1 stop
4. Communication
Specifications
Note
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