Chapter 7 Specifications and Characters
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6.3.2 Communication Error Disposal
Problems that occur during communication are resulted by the following reasons:
�
Data address is incorrect while reading/writing parameters.
�
The data is not within the parameter setting range while writing.
�
Data transmission fault or checking code fault when communication is disturbed.
When the first and second communication faults occur, the servodrive is running normally, and will feed
back an error frame.
When the third communication fault occurs, transmission data will be recognized as invalid to give up,
and no error frame is returned.
The format of error frame
：
Host
Host
Host
Host controller
controller
controller
controller data
data
data
data frame
frame
frame
frame
：
Servodrive
Servodrive
Servodrive
Servodrive feeds
feeds
feeds
feeds back
back
back
back error
error
error
error frame:
frame:
frame:
frame:
Error frame responses code=80
H
Error code
＝
00
H
：
Normal communication
＝
01
H
：
Servodrive cannot identify the required functions
＝
02
H
: The required data address does not exist in the servodrive
＝
03
H
：
The required data in servodrive is not allowed. (Beyond the maximum or minimum
value of the parameter)
＝
04
H
：
Servodrive starts to perform the requirement, but cannot achieve it.
For
For
For
For example:
example:
example:
example:
Servodrive axis number is 03
H
，
write data 06
H
into parameter Pn100 is not allowed ,
because the range of parameter Pn100 is 0~6. The servodrive will feedback an error frame, the error
code is 03
H
(Beyond the parameter’s maximum value or minimum value).
Host
Host
Host
Host controller
controller
controller
controller data
data
data
data frame
frame
frame
frame
：
Servodrive
Servodrive
Servodrive
Servodrive feedback
feedback
feedback
feedback error
error
error
error frame
frame
frame
frame
：
Besides, if the data frame sent from host controller slave station address is 00
H
, it represents this data is
broadcast data, servodrives will not feed back any frames.
start
start
start
start
Slave
Slave
Slave
Slave station
station
station
station address
address
address
address
Command
Command
Command
Command
Data
Data
Data
Data address,content
address,content
address,content
address,content
Checking
Checking
Checking
Checking
command
start
start
start
start
Slave
Slave
Slave
Slave station
station
station
station address
address
address
address
Response
Response
Response
Response code
code
code
code
Error
Error
Error
Error code
code
code
code
Checking
Checking
Checking
Checking
command
＋
80
H
start
start
start
start
Slave
Slave
Slave
Slave station
station
station
station address
address
address
address
Command
Command
Command
Command
Data
Data
Data
Data address,content
address,content
address,content
address,content
Checking
Checking
Checking
Checking
03
H
06
H
0002
H
0006
H
start
start
start
start
Slave
Slave
Slave
Slave station
station
station
station address
address
address
address
Response
Response
Response
Response code
code
code
code
Error
Error
Error
Error code
code
code
code
Checking
Checking
Checking
Checking
03
H
86
H
03
H
