#LIST OF SERIAL COMMUNICATION PROTOCOL FULL#
#LIST OF SERIAL COMMUNICATION PROTOCOL VERIFICATION#
#LIST OF SERIAL COMMUNICATION PROTOCOL CODE#

#LIST OF SERIAL COMMUNICATION PROTOCOL VERIFICATION#

If the host receives the ‘O’ byte, this means that the drive has received correctly (checksum verification was passed) the last message sent, and now is ready to receive the next message.

#LIST OF SERIAL COMMUNICATION PROTOCOL CODE#

This byte is: ‘O’ (ASCII code of capital letter “o”, 0x4F). After each command (Type A or B) sent by the host, the drive will confirm the reception by sending one acknowledge- O k byte.

#LIST OF SERIAL COMMUNICATION PROTOCOL FULL#

The RS-232 protocol is full duplex, allowing simultaneous transmission in both directions. A “TakeData2” message with SRL.10=0 signals that a new motion has started and may be used as a confirmation for the last motion command. Remark: A “TakeData2” message with SRL.10=1 signals that the last programmed motion is completed. Serial message: “TakeData2” with status registers SRL and SRH from axis 255 10 goes from 0 to 1, the host gets a “TakeData2” message with the following contents: If SRH = 0x201 and SRL = 0x8400, after SRL. To activate automatic sending of a “TakeData2” whenever SRL. In this example, the motion complete condition is signaled by setting SRL. A bit set in a mask, enables a message transmission when the same bit from the corresponding register changes. The bit selection is done via 3 masks, one for each register, set in TML parameters: SRL_MASK, SRH_MASK, MER_MASK. Note that the SRL and SRH status registers may also be accessed as a single 32-bit variable named SR32. Remark: Use Command Interpreter to get the addresses for the above TML data. The 16-bit or 32-bit TML data requested to be sent with the TML command SEND. Serial message: “TakeData” with KPP value from axis 255 The drive/motor will return a byte 0x4F as confirmation that the message was received OK (See below the RS-232 and RS-485 protocols description for details), then the “TakeData” answer message with the following contents: Serial message: “GiveMeData” request for KPP value sent to axis 255 The host must send a “GiveMeData” request message with the following contents: The axis ID code and the binary code of ”TakeData” are:Īxis ID Code + Binary code of “TakeData” with KPP value from axis 255 In the particular case of this example, the axis ID code and the binary code of “GiveMeData” are:Īxis ID code + Binary code of “GiveMeData” request for KPP value sent to axis 255 The “TakeData” answer message includes the following information: “GiveMeData” request for a TML data – Message description Remark: Use Command Interpreter to get TML data addresses.Ī “GiveMeData” request message for a TML data includes the following information: Let’s suppose that the KPP value returned by the drive/motor is 288 (120h). The host sends a “GiveMeData” request and the drive/motor answers with a “TakeData” message. The ID of the host and the drive/motor are 255 = 0FFh.

For example if the host axis ID = 255 and the drive ID = 1, the message is the same as in remark a)Įxample 2 – Type B Message: A host is connected to a drive via RS-232 and wants to get the value of the KPP (proportional term of the position controller) parameter from the drive. If the host is connected via RS-485 with a drive, the 2 devices must have different axis ID values. (See below the RS-232 and RS-485 protocols description for details) The drive/motor will return a byte 0x4F as confirmation that the message was received OK. Serial message: TML Instruction KPP = 5 sent to axis 255 The host must send a serial message with the following contents: Remark: Use Binary Code Viewer to get the binary code of TML instructions The Axis ID code and the TML instruction binary code are:Īxis ID code + Binary code of TML Instruction KPP = 5 sent to axis 255 The axis ID of host and of the drive/motor are 255 = 0FFh. The next paragraphs present an example of each message type.Įxample 1 – Type A Message: A host is connected to a drive/motor via RS-232 and sends the TML instruction “KPP = 5” (set proportional part of the position controller with value 5). These messages may be sent either when a specific condition occurs or following the execution of the TML command SEND (see Messages sent to the host for details)

Type C: Messages sent by a drive/motor to a host without being requested by the host.

List of serial communication protocol