AS64 series AC servo drive Communication
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This CRC calculation method is compliant with international standards. When editing the CRC
calculation method, you can see the standards.
8.2.6 Responding to errors
A slave device responds with a function code field and fault address to specify whether the response
is normal (that is, no error occurred) or abnormal (that is, an error occurred). In a normal response,
the slave node responds with the function code and data address or sub function code. In an abnormal
response, the slave node responds with a code that equals a normal code but starts with logic 1.
For example, if the master node sends a request to a slave node to read the address data of a group
of servo drive function code, the following function code is generated:
0 0 0 0 0 0 1 1 (Hexadecimal 03H)
In a normal response, the slave node responds with the same function code. In an abnormal response,
the slave node returns:
1 0 0 0 0 0 1 1 (Hexadecimal 83H)
In addition to the function code that is modified due to the error, the slave node returns an error code,
indicating the error cause.
After receiving the abnormal response, the master node resends a message, which is typical
processing, or it changes the command based on the error.
Table 8-6 Error codes
The function code that the upper computer receives is not allowed
for operation. The possible cause is that the function code is
applicable to new devices only or that the slave node handles
such a request in abnormal state.
The data address requested by the upper computer is not allowed
by the servo drive. Especially, the register address and
transmitted byte combination are invalid.
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