Chapter 6 Applied Instructions 6_ 3. S 2 is the ID of the transmitted message. According to 2.0A or 2.0B protocol, the transmitted data automatically occupies D buffer registers. When 2.0A is selected, S 2 is 11 bits of ID code with the following data transmission format. When 2.0B is selected, S 2 (Lo-word) and S 2 +1 (Hi-word) are both 29 bits of ID code. 4. S 3 is the length of the transmitted message. The setting value should be in the range of 0~8 with the unit of byte (8bits).
If the setting value ( 8) exceeds the range, the instruction will run at the minimum value 0 or the 6-597 Communication Setting value of S1 Communication format Description code Higher 8 Lower 8 bits bits 0 0 16#0000 2.0A 11-bit ID Master mode. The master will wait to receive the response message after sending out the communication data. 1 16#0001 Master mode. After sending the broadcast command, the master will enter the mode of receiving messages from multiple slaves until the receiving timeout occurs or the quantity of messages received is up to 100. 2 16#0002 Slave mode. The slave receives a message first and then sends back the response message. 3 16#0003 Slave mode.
The slave only receives messages. 1 0 16#0100 2.0B 29-bit ID Master mode. The master will wait to receive the response message after sending out a message. 1 16#0101 Master mode. After sending the broadcast command, the master will enter the mode of receiving messages from multiple slaves until the receiving timeout occurs or the quantity of messages received is up to 100. 2 16#0102 Slave mode. The slave receives a message first and then sends back the response message. 3 16#0103 Slave mode. The slave only receives messages. S2 No. S2 Description Msg. ID S2 No. S2 S2+1 Description Msg. ID（Lo-word） Msg. ID（Hi-word）