No. SX-DSV02310 - 9 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
3. Transmission Protocol of RTEX Communication Data
3-1 Transmission timing of data
• If the synchronization between the communication and servo is not established, the command receiving timing and
response transmitting timing are unstable.
The timing diagram in this chapter shows established synchronization
which can be verified through the logic output
signal (extended portion) of the monitor command.
• Because the echo back of the Update_Counter is generated in the data exchanging process of the servo driver, the echo
back (Update_Counter_Echo) is immediately returned unless a communication error occurs.
• In contrast, the echo back (Command_Code_Echo) in response to the command code is not immediately returned
because it is generated in command/response process. Relationship between Update_Counter and command code may
not be the same for transmitted data and received data.
• If the control mode is switched to a different control mode when the communication cycle is 0.0833 mm or 0.1666 ms,
the response timing of the command code echo back is different from the response timing of internal data e.g. position
deviation which depends on the control mode. For details, refer to timing diagram in 3-1-3 and 3-1-4.
• If the command is not correctly received due to problem caused by command code or argument, the command error bit
(CMD_Error or Sub_CMD_Err) is set to 1 and returned. When the servo driver correctly receives the command, the
command error bit is set to 0.
For secure command transfer, hold the command code value until the echo back is received.
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