PowerTec DFS-1 manual Communications Protocol

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6.0 COMMUNICATIONS PROTOCOL

GENERAL DEFINITIONS:

[STX] - 02h - Start of data [ETX] - 03h - End of data [ACK] - 06h - Acknowledge [NAK] - 15h - Negative Acknowledge [DLE] - 10h - Data Link Escape [CMD] -xxh - Command to be executed

[CSM] - xxh - Checksum, 2’s complement sum of the data between the [STX] and [ETX] characters

GENERAL NOTES:

1.The use of brackets in this document means that there is a single byte of information contained within the brackets. This convention is used to insure that the construction of the message is clear.

2.If the below message was sent, the following checksum would be computed:

DLE STX UID CMD

DATA

DLE ETX CSM

[10][02] [01] [82] [00][00][10][10][00] [10] [03] [6D]

Note the delimited datum character. Since a 10h is the DLE, the only way the software can know that a 10h in the middle of a data word is datum and not the DLE is to put the datum in twice. The driver software must know that a single 10h is the DLE and not datum! The driver software must actually use only one 10h to compute the check- sum value.

01 + 82 + 00 + 00 + 10 + 00 = 93: 2’s complement = 6D

3.All data is sent in four bytes regardless of the needed length of data. For instance, parameter 48 has the value of 0 for jump and 1 for MOP. The actual parameter is passed in communications however as a [00][00][00][00] for jump mode and a [00][00][00][01] for MOP mode. In this way, all data has an expected length of 4 bytes.

Revised 7/95	DFS-1 Manual	Page 45
POWERTEC Ind. Corp.©

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Contents DFS-1 Microprocessor Based Brushless D.C Motor ControllerSubsidiary Powertec Industrial Corporation Errata Additional Info OctoberInstallation Mounting -- Read this Entire Section Before StartingContents DFS 1 Setup Menu and Keypad Hierarchy Communication ProtocolRetrofitting the Model 1000,1000A, or 1000AR Revised 7/95 Introduction Summary of Warranty and Disclaimer Power Connections ConnectionsMotor Encoder Cable Analog InputsFrequencyinput Analog OutputsFrequencyoutputdigital Inputs Digital Out #4 Reverse Digital OutputsCommunications This page WAS Intentionally Left Blank Default Setup Revised 7/95 This Supply is for the Motor Encoder only Power SuppliesInput Setup Function VDCInput #1 Reference Frequency Input Frequency Inputs OutputsDigital Inputs Outputs #1 Reference Frequency OutputCable Standard RS-48519.2K, and 38.4K baud Nodes MaximumThis page WAS Intentionally Left Blank Baud Rate Local / Remote ControlUnit ID Number Baud RateTo 1 decimal Communications ProtocolModes of Operation USE Parameter #6 to SET the Absolute Maximum Motor Speed Maximum Motor SpeedEncoder Pulses PER Revolution Slave Ramp UP Time Master Ramp UP TimeMaster Ramp Down Time Slave Ramp Down TimeTo 99,999 decimal Default Value 0000 06D6h Master Preset SpeedSlave Ratio Preset Engineering UnitsMaximum Ratio Analog Input #1 Mode SelectTo 32 decimal Default Value 0000 0001h Center value Analog Input #1 Signal ConditioningAnalog Input #1 LOW Engineering Units EGU Future useAnalog Input #1 High Engineering Units EGU Analog Input #2 Mode SelectAnalog Input #2 Signal Conditioning Analog Input #2 LOW Engineering Units EGUAnalog Output #1 LOW Engineering Units EGU Analog Output #1 Mode SelectAnalog Output #2 Mode Select Analog Output #1 High Engineering Units EGUAnalog Output #2 High Engineering Units EGU Default Value 0000 0096hAnalog Output #2 LOW Engineering Units EGU Digital Input #3 Function Digital Input #1 FunctionDigital Input #2 Function Digital Input #4 FunctionDigital Input #7 Function Digital Input #5 FunctionDigital Input #6 Function Digital Output #1 FunctionDigital Output #2 Function Drive Gain SettingDrive Stability Setting Digital Output #3 FunctionModulation and Operation Modes Drive Regenerative Current LimitPulse Multiplier Jump or MOP OperationSlave Jump UP Amount Master Jump UP AmountMaster Jump Down Amount Slave Jump Down AmountMinimum Ratio Communications Turnaround DelayInput Debounce Value Float or FreezeContactordelay Slave JOG Ratio Slave Preset #2Master Preset #2 EGU TAG SelectThis page WAS Intentionally Left Blank DFS 1 Setup Basic Setup of the DFS-1 Controller Master Mode Setup Slave Mode Setup Inputs and Outputs Setup SET Parameter #56 for Communications Turn around Delay Communications SetupThis parameter selects the Powertec binary protocol SET Parameter #3 to Select Which Functions are RemoteError Codes for ON-BOARD Display This page WAS Intentionally Left Blank Communications Protocol Command List Parameter List Dlestxuidnakerrdleetxcsm DlestxuidcmddleetxcsmDLESTXUIDCMDCS4CS3 CS2CS1DLEETXCSM ERRDlestxuidackdleetxcsm Response If no errors and unit i.d. does not equalResponse If no errors DlestxuidcmdprmdleetxcsmDlestxuidcmddtadleetxcsm DLESTXUIDCMDPRMVL4Dlestxuidcmdatddleetxcsm DLESTXUIDACKDA4DA3DLESTXUIDCMDDTAVL4 DlestxuidcmddigdleetxcsmBIT PSN SML Where Is unused Is Jog Is Preset Is Contactor AuxDLESTXUIDCMDDIGVL4 BIT PSN SMHBIT PSN RML Message DLESTXUIDCMD0000Smhsmldleetxcsm BIT PSN RMHAttachmentb Parameter Description DLESTXUIDCMDAMDVL4Additional Info Output Contactor Typical Dynamic Braking Typical This page WAS Intentionally Left Blank Quantity Pin Connector Cable DFS-1 Model 1000 series retro-fit kit consists QuantityRevised 7/95 Appendix B Not visible in some modes Revised 7/95 Powertec Ind. Corp Figures 2 DFS-1 Manual Figures DFS-1 Manual Igur DFS-1 Manual Select AI ModeEnterEnter DFS-1 Manual Igur DFS-1 Manual Sel DFS-1 Manual Igures DFS-1 Manual Figures 29 DFS-1 Manual