Communications Method, Handshaking Code | Panasonic IMC80A instruction

Communications

Communications Method

	RS232C
	Full-duplex, asynchronous communication method
Communications baud rate	2400, 4800, 9600bps
Data	8 bit
Parity	No
Start bit	1 bit
Stop bit	1 bit

Set RS232C communications baud rate with Pr0C. Any change to these parameters will be valid when you power on the control power supply. For detailed information, refer to list of parameters related to the following communications:

List of User Parameters Related to Communications

	PrNo.	Parameter Name	Range of Setting		Functional Description
	00	Shaft name	1 - 15	Refer to descriptions on parameters on pages 88 and 116.

		Setting of baud rate for	0 - 2	Set the communications speed of RS232C communications.
	0C			0 : 2400[bps]	1 : 4800[bps]	2 : 9600[bps]
		RS232C communications
				A change will be valid when you power on the control power supply.

Time for data transmission is calculated with the following expression, for instance, in the case of 9600 [bps]: (1000/9600) x (1 + 8 + 1) = 1.04 [ms/byte]

Start bit

Stop bit

Data

When the baud rates of 2400 bps and 4800 [bps] are used, data transmission time will be 4.17 [ms/byte] and

2.08[ms/byte], respectively. Note, however, actual communication time will be added time necessary for processing received command, and necessary for switching between a line and transmission/reception control.

Handshaking Code

For line control, the following codes are used.

Name	Code	Functions
ENQ	05h	Transmission request
EOT	04h	Ready for receiving
ACK	06h	Acknowledgement
NAK	15h	Negative acknowledgement

ENQ …When the module has a block to transmit, it sends ENQ.

EOT … When the module is ready to receive a block, it sends EOT. The line enters transmission mode when sending ENQ and receiving EOT. It enters reception mode when receiving ENQ and sending EOT.

ACK … When a received block is judged normal, ACK is returned.

NAK … When a received block is judged as abnormal, NAK is returned. A judgment is made based on checksum and timeout.

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Panasonic IMC80A specifications Communications Method, List of User Parameters Related to Communications, Handshaking Code

Contents

Reference Steps of Procedure Outline of PANATERM, Setup Support SoftwareInstalling Panaterm on Hard Disk Connection Method Reference Starting Panaterm Communications Outline of Communications Communications Specification Connection of Communications LineRS232C Communications Communications Method List of User Parameters Related to CommunicationsHandshaking Code Transmission Sequence Transmission Protocol Line Control Configuration of Data Block Protocol Parameter Example of Data Communication Example of Changing Parameters State Transition Diagram RS232C Communications Waiting for EOT Communications Timing RS232C Communications List of Communications Commands Details on Communications Commands 167 168 Reference 170 171 172 173 174 175 176 177 Description on Dividing/Multiplier Ratio Example EMC Directives Conformance to EC Directives/UL StandardsEC Directives Applicable Standards Circuit Breaker PowerEnvironment Peripheral Equipment Noise Filter Surge Absorber Leakage Breaker Noise Filter for Signal cablesGrounding Conformance to UL Standards Junction Cable for Encoder Optional PartsMINAS-E Series Table of Junction Cable by Model Junction Cable for Motors Robotop 600V DP Name Connector Kits for Power Supply of the DriverWire rod Number Connector Kits for Connection of Motor and Encoder Manufacturer Wire rodName Manufacturer’s part No Number Remarks Pin arrangement of connector for junction of encoder cable Connector Kit for Connection with Host Controller Interface Cable for Connection with Host ControllerNumber Manufacturer Remarks Communications Cable Connection with Personal Computer PANATERM, software for communications controlConsole Manufacturer’s Specification Remarks Ohmic Value External Regenerative ResistorDIN Rail Mounting Unit Outline Rated Output Reactor Part No ReactorDriver Voltage Inductance Rated List of Manufacturers of Peripheral Equipment Recommended PartsSurge Absorber for Motor Brake Motor Surge Absorber for Motor Brake Dimensional Outline Drawing Motor Muma Series 50W to 400W Output 50W, 100W 230mm 200W, 400W 220mm Specification of Keyed Version Thrust Load Allowable Load of Output ShaftOperation Direction B Motor Characteristics S-T Characteristics Reference How to check the model Servo Motor with GearChecking Model of Servo Motor with Gear Incremental Specification 2500 P/r Check the Combination of Driver and Motor with GearApplicable Motors with Gear Applicable Drivers Dimensional Outline Drawing of Motor with Gear Servo Motor with Gear Detailed View of Shaft End Requests Concerning Installation Allowable Load of Output Shaft of Servo Motor with Gear 100V 200V 200W Driver Internal Diagram Control Block Specifications Driver Motor Hit-and-stop Initialization ZEROSPD/TC Warn Hit-and-stop Initialization and Load Pressing Control Load Pressing Control Index Encoder Incremental specification 2500P/r 211 Recommended Parts Surge Absorber for Motor Brake 192 213 Reference Memo After-Sale Service Repair RepairElectronic data of this manual