Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manual de usuario descargar pdf (Pagina 29)

Rockwell Automation Publication 2071-RM001B-EN-P - April 2013 29

Chapter 2

Communication Protocol (RS-232/ASCII)

Introduction

The drive command protocol is a client-server protocol. A host computer is the

server, and each drive is a client. This chapter provides details about the Special

Symbols, Packet Structure, and Checksum in the serial communication protocol.

Special Symbols

Special symbols used in the host commands include the following.

Packet Structure

The packet structure is shown below.

Some simple commands might not have the Data field (for example, Fault Reset).

Maximum packet size is 400 bytes. Each letter and digit in Command and Data

fields represents a single ASCII character.

All commands begin with an STX

, and terminate with an ETX.

If the drive receives the command without a communication error, the response is

in the same format as the host command. Numeric parameters are encoded as

strings.

Symbol Value Description

STX 0x02 Start of text

ETX 0x03 End of text

ACK 0x06 Acknowledged

BEL 0x07 Acknowledge alarm

NAK 0x15 Not acknowledged

CAN 0x18 Cancellation of command (For example, the drive sends CAN if the drive is already enabled,

but the JOG ON is requested.)

ETB 0x17 End of block

GS 0x1D Cannot save parameter

RS 0x1E Range over

US 0x1F Undefined

Start ID Host/

Response

Command Data Separator Checksum End

Symbol STX dd # or $ SET or… d …d : c c ETX

Bytes 1 2 1 3 0 - n 1 1 1

1 2 ... 24 25 26 27 28 29 30 31 32 33 34 ... 145 146

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Rockwell-automation 2071-Axx Kinetix 3 Component Servo Drive Serial Ho Manual de usuario Pagina 29