Panasonic AC Servo MINAS E Series IMC80A User Manual download pdf (Page 10)

164

Communications

State Transition Diagram

RS232C Communications

Idling

Receiving module

Transmitting Module

Waiting for EOT

Transmission of block

Waiting for ACK/NAK

Receiving

Remaining blocks

Waiting for the number

of command bytes

There are requests

for transmission

(within the number

of retries).

ENQ transmission

and T2 start.

There are requests for

transmission but the number of

retries is exceeded.

The number of retries is to be

reset once. A request for

transmission is cleared.

EOT is received.

Size Number of command

bytes + 3

T2 stop

One character is received.

Size Number of command

bytes - 1

ENQ is received and in slave

mode.

ENQ is returned to receiving

buffer (To reception

processing)

NAK is received or T2

times out.

The number of retries is

counted once.

T2 STOP

Transmission buffer is

cleared.

T2 timeout

The number of retries

is counted once.

T2 stop

Transmission buffer is

cleared.

Reception is successful

(checksum is OK when size

becomes 0).

ACK is transmitted.

T1 stop

T1 times out or checksum

error occurs when size

becomes 0.

NAK is transmitted.

T1 stop

One character is received.

Size Number of command bytes -1

Sum Sum + received characters

T1 start

T2 timeout

NAK is transmitted.

T2 stop

ENQ

EOT is

transmitted.

T2 start

ACK is received.

The number of retries

is reset.

T2 stop

The request for

transmission is cleared.

Size becomes zero.

T2 START

The number of command bytes is

received.

Size Number of command bytes +3

Sum Number of command bytes

T1 start, T2 stop

1 2 ... 5 6 7 8 9 10 11 12 13 14 15 ... 61 62

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