GET CONFIG (0x80)

Code: 0x80
Description: A range of configuration data can be read from the module.
Parameters (master -> slave):

• None
  Miscellaneous information of the module is read:
  • Modul type as text (8 chars)
  • Order number (UInt32)
  • Firmware version (UInt16)
  • Protocol version (UInt16)
  • Hardware version (UInt16)
  • Firmware create date/time as text (21 chars)

  Modules with an even-numbered hardware version have EEPROM, with an odd-numbered - FRAM. See pseudo absolute value transmitter

  
  
  

• EEPROM (0xFE)
  All configuration data is read in one process.
  

  This command should not be used with one's own applications, as the structure of the data to be received is not known.

  
  
  

  The module must be stopped, and the controller must be inactive. For example, execute an emergency stop before

  
  
  

  In such a case, fragmentation protocol must be used (not with RS232).

  
  
  

• Module ID (0x01)
  The ID of the module is read (1 byte).
• Group ID (0x02)
  The group data of the module is read (1 byte).
• RS232 Baud Rate (0x03)
  The RS232 baud rate is read (2 bytes).
• CAN Baud Rate (0x04)
  The CAN baud rate is read (2 bytes).
• Communication Mode (0x05)
  The configured communication interface is read (1 byte). Valid values: AUTO (0x00), RS232 (0x01), CAN (0x02), Profibus DPV0 (0x03), RS232 Silent (0x04).
• Unit System (0x06)
  The configured unit system is read. Valid values: ([mm] = 0x00, [m] = 0x01, [Inch] = 0x02, [rad] = 0x03, [Degree] = 0x04, [Intern] = 0x05, [mum] Integer = 0x06, [muDegree] Integer = 0x07, [muInch] Integer = 0x08, [Milli-degree] Integer = 0x09)
• Soft High (0x07)
  The high software limit is returned (4 bytes, observe unit system)
• Soft Low (0x08)
  The low software limit is returned (4 bytes, observe unit system)
• MAx. Velocity (0x09)
  The maximum permissible velocity of the module is returned (4 bytes, observe unit system)
• Max. Acceleration (0x0A)
  The maximum permissible acceleration of the module is returned (4 bytes, observe unit system)
• Max. Current (0x0B)
  The nominal current of the module is returned (4 bytes, observe unit system)
• Nom. Current (0x0C)
  The nominal current of the module is returned (4 bytes, observe unit system)
• Max. Jerk (0x0D)
  The maximum permissible jerk of the module is returned (4 bytes, observe unit system)
• Offset Phase A (0x0E)
  The offset of the current sensor A is returned (2 bytes).
• Offset Phase B (0x0F)
  The offset of the current sensor B is returned (2 bytes).
• Data CRC (0x13)
  A CRC16 over all variable and not module specified paramenters (like serial numeber, current offset) is returned.
• Reference Offset (0x14)
  The reference offset is returned (4 bytes, observe unit system)
• Serial Number (0x15)
  The device serial number is returned (4 bytes).
• Order Number (0x16)
  The device order number is returned (4 bytes).

Response (slave -> master): Parameter ID (required to determine the data that can be requested), followed by the requested data.

Example 1:

	D-Len	Cmd	Param
M->S	0x02	0x80	0x06	Read unit system
S->M	0x03	0x80	0x06 0x00	Unit system is [mm]

Example 2:

	D-Len	Cmd	Param
M->S	0x01	0x80		Read module info
S->M	0x28	0x80	0x50 0x52 0x2D 0x37 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x79 0x00 0x03 0x00 0x12 0x02 0x31 0x31 0x3A 0x32 0x32 0x3A 0x32 0x37 0x20 0x20 0x4A 0x75 0x6C 0x20 0x20 0x33 0x20 0x32 0x30 0x30 0x38	Modul type ,,PR-70'', order number 0, firmware version 1.21, protocol version 3, hardware version 5.30, firmware created at ,,11:22:27 Jul 3 2008''

Note: To read configuration data quickly, use the supplied software tool. If you wish to read all parameters in one single process, you must first halt the module. (Read processes take a relatively long time to be completed. The control system is thereby switched off, so movements of the module would be interrupted.)