Yaskawa FSP Amplifier FlexWorks - Manual (Page 207)

Serial Interface Protocol
207
6.2.3. Response Message
All master messages, except broadcast messages, are responded to
by an FSP Amplifier response message.
Format:
N A M I D 1 I D 2 A NSWER S1 S2 CR
Where:
Description: FSP Amplifier message start symbol. Constant value.
N
Range: N
Description: Axis address. The response message holds the same
axis address as the original message.
A
Range: 0x0 – 0xF
Description: Response type.
M
Range: 0 – Acknowledge (without Fault)
1 – Acknowledge (with Fault)
2 – Response for data request command
3 – Acknowledge with watch variables field
5 – Program upload
Description: Message Identification in case of Fault (Response
type, m = 1). Otherwise (no fault) the Message Identification is set
to 0x00 (two bytes for two digits). If a fault is related to a specific
command / message, Id1 and Id2 contain the Message Identification
as sent by the master.
Since the range is greater than 0xF, two bytes are required for
holding the number.
I
D
1
AND
I
D
2
Range: 0x0 – 0xFF. 0x0 – 0xF each
A
NSWER
Description: FSP Amplifier response. Can hold acknowledge (ACK)
or value as response to Data Request Commands such as GET_VAR.
The format of ACK and Data Request Commands are described
below.