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首页松下伺服和PC机之间的通信协议
松下伺服和PC机之间的通信协议
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更新于2023-03-03
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松下A4系列伺服控制器和PC机之间的通信协议,基于该协议能设计和开发上位机程序来控制伺服电机的位置和速度控制程序
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278
Communication
Outline of Communication
You can connect up to 16 MINAS-A4 series with your computer or NC via serial communication based on
RS232 and RS484, and can execute the following functions.
(1) Change over of the parameters
(2) Referring and clearing of alarm data status and history
(3) Monitoring of control conditions such as status and I/O.
(4) Referring of the absolute data
(5) Saving and loading of the parameter data
Merits
• You can write parameters from the host to the driver in batch when you start up the machine.
• You can display the running condition of machine to improve serviceability.
• You can compose multi-axis absolute system with simple wiring.
Following application software and cables are prepared as options. For the operation of the "PANATERM
®
,
refer to the instruction manual of the PANATERM
®
.
DV0P1960
DV0P1970
DV0P1970 DV0P1970
Host
"PANATERM
®
" Japanese version (Windows 98/Me/2000/XP)
"PANATERM
®
" English version (Windows 98/Me/2000/XP)
Connecting cable for PC (DOS/V)
Connecting cable between drivers
DVOP4230
DVOP4240
DVOP1960
DVOP1970 (200
[mm])
DVOP1971 (500
[mm])
DVOP1972 (1000
[mm])
279
[Supplement]
Supplement
Communication Specifications
Connection of Communication Line
MINAS-A4 series provide 2 types of communications ports of RS232 and RS485, and support the following
3 types of connection with the host.
• RS232 communication
Connect the host and the driver in one to one with RS232, and communicate according to RS232 trans-
mission protocol.
Allow 500ms or longer interval for switching the axes while capturing data of multiple axes.
RS232
Host
RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1
X4 X4 X4 X4
Selector etc.
RS232
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3
RS485 RS485 RS485
Host
Max. 16 axis
RS485
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4
RS485 RS485 RS485
Module ID=0
Host
Max. 15 axis
• Set up the module ID of MINAS-A4 to RSW of the front panel. In the above case, you can set any
value of 0 to F. You can set the same module ID as long as the host has no difficulty in control.
• RS232 and RS485 communication
When you connect one host to multiple MINAS-A4s, connect the host to connector X4 of one driver with
RS232 communication, and connect each MINAS-A4 with RS485 communication. Set up the RSW of the
driver to 0 which is connected to the host, and set up 1 to F to other drivers each.
• RS485 communication
Connect the host to multiple MINAS-A4s with RS485 communication, set up the RSW of each front panel
of MINAS-A4 to 1 to F.
280
Communication
Interface of Communication Connector
• Connection to the host with RS232
RTS
CTS
RXD
G
TXD
FG
DTR
DSR
RXD
G
TXD
MINAS-A4Host
CN X4
CN X3
RS485+
RS485–
RS485+
RS485–
RXD
G
G
TXD
RS485+
RS485–
FG (Case)
FG (Case)
ADM485 or
equivalent
SN751701 or
equivalent
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
Note) 1. Do not connect anything to
Pin-1, Pin-2 and Pin-6 of
connector, CN X4 and Pin-1,
Pin-2, Pin-3, Pin-5 and Pin-6
of connector, CN X3.
2. You cannot connect RS232
to connector, CN X3.
Connectors, CN X3 and CN X4 are
MD-S800
•
10 (by JST) or equivalent.
FG (Case)
281
[Supplement]
Supplement
• Connection to the host with RS485
G
FG
RXD
G
TXD
MINAS-A4
Host
CN X4
CN X3
RS485+
RS485–
RS485+
RS485–
RS485+
RS485–
RXD
G
G
FG (Case)
TXD
RS485+
RS485–
ADM485 or
equivalent
SN751701 or
equivalent
Connectors, CN X3 and CN X4 are
MD-S800
•
10 (by JST) or equivalent.
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
FG (Case)
FG (Case)
Note) 1. Do not connect anything to
Pin-1, Pin-2 and Pin-6 of
connector, CN X4 and Pin-1,
Pin-2, Pin-3, Pin-5 and Pin-6
of connector, CN X3.
2. You cannot connect RS232
to connector, CN X3.
伺服驱动器串口线
黄--5
绿--8
黑--6
橙--2
紫--7
棕--3
红--1
灰--4
蓝--9
282
Communication
ENQ ... The module (host or driver) sends out ENQ when it has a block to send.
EOT.... The module (host or driver) sends out EOT when it is ready to receive a block. The line enters to
a transmission mode when ENQ is transmitted and EOT is received.
ACK.... When the received block is judged normal, the module (host or driver) will send out ACK.
NAK.... When the received block is judged abnormal, NAK will be sent. A judgment is based on checksum
and timeout.
<Caution>
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byteÅcMake the RSW value of the front panel as a module ID, and data which makes
its bit7 as 1, becomes a module recognition byte.
Module ID : The module ID of the host side will be 0 in case of RS485 communication, therefore set up
RSW of MINAS-A4 to 1- F.
Communication Method
RS232
Full duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
Communication baud rate
Data
Parity
Start bit
Stop bit
RS485
Half duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
• Required time for data transmission per 1 byte is calculated in the following formula in case of 9600[bps].
1000 / 9600 x (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line and transmission/
reception control will added to the actual communication time.
List of User Parameters for Communication
PrNo.
00
0C
0D
Axis address
Baud rate setup of
RS232 communication
Baud rate setup of
RS485 communication
Check the RSW (ID) value of the front panel at control power-on.
This value becomes the axis number at serial communication.
Setup value of this parameter has no effect to servo action.
Set up the communication speed of RS485 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Set up the communication speed of RS232C communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Title of parameter
Setup range
0 – 15
0 – 5
0 – 5
Functions/contents
• Handshake code
Following codes are used for line control.
Code
05h (Module recognition byte of the transmitted)
04h (Module recognition byte of the transmitted)
06h
15h
Title
ENQ
EOT
ACK
NAK
Function
Enquire for transmission
Ready for receiving
Acknowledgement
Negative acknowledgement
bit7
1
bit6
0
bit5
0
bit4
0
bit3 bit2 bit1 bit0
Module ID
• Set up the RS232 communication baud rate with Pr0C, and RS485 communication baud rate with Pr0D.
The change of these parameters will be validated after the control power entry. For details, refer to the
following list of parameters related to communication.
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