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7.6 Response Data Details

7-7

Serial Command Communications

7.6 Response Data Details

There are positive responses and negative responses.

The positive response indicates normal operation and the negative response indicates an error.

7.6.1 Positive Responses

There two kinds of positive responses, responses that return data (for commands such as PRM) and responses

that do not return data (for commands such as SVON).

For commands that require data to be returned, refer to the description of the individual command for details

on the structure of the response’s character string.

For commands that do not require data to be returned, the positive response is “OK” unless parameter PnB02

is set to 0. If PnB02 = 0, there is no response.

 Structure of the Response “OK”

OK [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]

Note: In ASCII, the [SP] character is 20 Hex, the [CR] character is 0D Hex, and the [LF] character is 0A Hex.

7.6.2 Negative Responses

There will be no response if one of the following errors is detected: a parity error (E48E), framing error

(E49E), or overrun error (E4AE). There will be no response to a global command or a command with an

incorrect axis number.

In all other cases, a negative response will be returned if an error is detected.

 Structure of the Negative Response

Note: In ASCII, the [SP] character is 20 Hex, the [CR] character is 0D Hex, and the [LF] character is 0A Hex.

Undefined Command Error E56E [SP] ERR [SP] SN [CR] [LF]

Address Out-of-range Error E57E [SP] ERR [SP] PN [CR] [LF]

Data Out-of-range Error E58E [SP] ERR [SP] OV [CR] [LF]

Other Errors

ExxE [SP] [SP] [SP] [SP] [SP] [SP] [SP] [CR] [LF]

The xx is the error number.

1 2 ... 112 113 114 115 116 117 118 119 120 121 122 ... 238 239

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YASKAWA SERVO Manuel d'utilisateur Page 117