Estun ETS Series - Communication Error Disposal

ETS Series AC Servo User's Manual
- 110 -
6.3.2 Communication Error Disposal
Problems that occur during communication are a result of the following:
 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 servo drive 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 controller data frame：
start
Slave station address
Command
Data address,content
Checking
command
Servo drive feeds back error frame:
start
Slave station address
Response code
Error code
Checking
command＋80
H
Error frame responses code=command+80
H
Error code＝00
H
：Normal communication
＝01
H
：Servo drive cannot identify the required functions
＝02
H
: The required data address does not exist in the servo drive
＝03
H
：The required data in servo drive is not allowed. (Beyond the maximum or minimum
value of the parameter)
＝04
H
：Servo drive starts to perform the requirement, but cannot achieve it.
For example: Servo drive axis number is 03
H
，write data 06
H
into parameter Pn100 is not allowed , because the range of
parameter Pn100is0~6. The servo drive will feedback an error frame, the error code is 03
H
(Beyond the parameter’s
maximum value or minimum value).
Host controller data frame：
start
Slave station address
Command
Data address,content
Checking
03
H
06
H
0002
H
0006
H
Servo drive feedback error frame：
start
Slave station address
Response code
Error code
Checking
03
H
86
H
03
H
Besides, if the data frame sent from host controller slave station address is 00
H
, it determines the data to be broadcast
data. The servo drives will not feed back any frames.