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RS232

Referencing

  1. Send referencing command
  2. Have understood referencing command
  3. After some time, ,,in position 5.792 [mm]''

ID D-Len Cmd Data CRC16
M->S 0x05 0x01 0x01 0x92 0xD1 0x31
S->M 0x07 0x01 0x03 0x92 0x4F 0x4B 0xE9 0xD9
Impulse 0x07 0x01 0x05 0x93 0x21 0x56 0xB9 0x40 0x4D 0x22

MOVE POS 10 [mm]

Default positioning command.

  1. Send command for movement to position 10 [mm]
  2. Message ,,will reach position in 3.358 [s]''. Movement is started.
  3. After some time,,,in position 9.9969 [mm]''

ID D-Len Cmd Data CRC16
M->S 0x05 0x01 0x05 0xB0 0x00 0x00 0x20 0x41 0x48 0x80
S->M 0x07 0x01 0x05 0xB0 0xEE 0xEE 0x56 0x40 0x7B 0xE4
Impulse 0x07 0x01 0x05 0x94 0xB6 0xF3 0x1F 0x41 0x7E 0xD5

GET STATE 1 [s]

Send every 1 [s] the actual position.

  1. Command Get State 1 [s] only position.
  2. Actual position and state. (position 1.011 [mm], moving, no error)
  3. Every second new message.
  4. Actual position and state. (position 5.054 [mm], moving, no error)

ID D-Len Cmd Data CRC16
M->S 0x05 0x01 0x06 0x95 0x00 0x00 0x80 0x3F 0x01 0x54 0x41
S->M 0x07 0x01 0x07 0x95 0x36 0x89 0x81 0x3F 0x02 0x00 0xF9 0xBC
S->M 0x07 0x01 0x07 0x95 .. .. .. .. .. ..
S->M 0x07 0x01 0x07 0x95 0x76 0xBE 0xA1 0x40 0x02 0x00 0x38 0xA0

Troubleshooting

An (,,ERROR MOTOR VOLTAGE LOW'') error occurred.

  1. Interpret and eliminate error. Power supply to motor switched off => switch on power supply.
  2. Acknowledge error with ,,CMD ACK''
  3. ,,CMD ACK'' confirmed
  4. Information message ,,No other errors'' displayed.

ID D-Len Cmd Data CRC16
every 15 [s] 0x03 0x01 0x02 0x88 0x74 0x82 0x1B
M->S 0x05 0x01 0x01 0x8B 0x10 0xFB
S->M 0x07 0x01 0x03 0x8B 0x4F 0x4B 0x38 0x1E
Impulse 0x07 0x01 0x03 0x8A 0x08 0x00 0x1A 0x19

CHECK MC PC COMMUNICATION (Float)

Check communication from module to control with test data.

  1. Request test data from module (floating point value -1.2345).
  2. Test data is sent by module.

ID D-Len Cmd Data CRC16
M->S 0x05 0x01 0x03 0xE4 0x01 0x01 0xBD 0xB6
S->M 0x07 0x01 0x07 0xE4 0x19 0x04 0x9E 0xBF 0x01 0x01 0x74 0x37

CHECK PC MC COMMUNICATION

Check communication from module to control with test data.

  1. Send test data to module.
  2. Module acknowledges receipt of test data and identifies the data that has been interpreted incorrectly (all data OK)

ID D-Len Cmd Data CRC16
M->S 0x05 0x01 0x15 0xE5 0x19 0x04 0x9E 0xBF 0xA4 0x70 0x3C 0x42 0x44 0x33 0x22 0x11 0xCC 0xDD 0xEE 0xFF 0x00 0x02 0xFE 0xAF 0x89 0xD7
S->M 0x07 0x01 0x04 0xE5 0x4F 0x4B 0x00 0xB6 0xFA