Yaskawa FSP Amplifier FlexWorks - Manual (Page 199)

Serial Interface Protocol
199
6. Serial Interface Protocol
This chapter describes the FSP Amplifier serial communication
protocol. FSP Amplifier can work with FlexWorks or with any other
software that complies with this protocol. Up to 15 FSP Amplifier
units can be connected on a bus. Broadcast commands can be sent
to all axes (FSP Amplifier units).
6.1. Basic Communication Specifications
Half duplex communication using the following:
Baud rate: 19200 Auto-detect
Bit Structure: Start 1 bit
Data 7 bit (ASCII code)
Stop 1 bit
Even-number parity 1 bit
Synchronization: Start / Stop
synchronization
1 bit
6.2. Protocol Specifications
In this master/slave protocol, a PC (or other device) is the master
and the FSP Amplifier is the slave. The master sends a request or a
polling message, and the FSP Amplifier answers with a response
message. The master can only send a new message after receiving
an answer or ACK (acknowledge) message or after timeout has
expired.
The master can control up to 15 FSP Amplifier units by using
addresses. When broadcast messages are sent, the master does
not wait for an ACK.
When there is no command to send, the master can continue
sending polling messages; the FSP Amplifier responds with an ACK.
The diagram below illustrates the communication protocol between
a PC (master) and a single FSP Amplifier.