ascII coMMunIcatIon protocol
6
9
1
5
3
2
TxD
RxD
RJ-11
on
Servo
Drive
RJ-11 cable
6P6C
Straight-wired
5
3
Gnd
Gnd
RxD
TxD
2
5
D-Sub 9F
Dsub-9F
to RJ11
Adapter
1
6
RoHS
Xenus
PLUS
2-Axis
MACRO
XM2
Rev 01
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
16-01419
Rev A
Page 6 of 34
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
Fax: 781-828-6547
Tech Support: E-mail: [email protected], Web:
Page 6 of 34
coMMunIcatIons: rs-232 serIal
RS-232 CoMMUniCAtionS
XM2
is configured via a three-wire, full-duplex DTE RS-232 port that operates from 9600 to 115,200 Baud, 8 bits, no parity, and one stop bit. Signal format
is full-duplex, 3-wire, DTE using RxD, TxD, and Gnd. Connections to the
XM2
RS-232 port are through J7, an RJ-11 connector. The
XM2 Serial Cable kit
(SER-CK) contains a modular cable, and an adapter that connects to a 9-pin, Sub-D serial port connector (COM1, COM2, etc.) on PC’s and compatibles.
SeR-Ck SeRiAl CABle kit
the SeR-Ck provides connectivity between a D-Sub 9 male connector and the
RJ-11 connector on the XM2. It includes an adapter that plugs into the COM1 (or
other) port of a PC and uses common modular cable to connect to the XM2. the
connections are shown in the diagram below.
ASCii CoMMUniCAtionS
the Copley ASCii interface is a set of ASCii format commands that can be used to operate these drives over an RS-232 serial connection.
For instance, after basic amplifier configuration values have been programmed using CME 2, a control program can use the ASCII
interface to:
• Enable the amplifier in Programmed Position mode.
• Home the axis.
• Issue a series of move commands while monitoring position, velocity, and other run-time variables.
The Baud rate defaults to 9,600 after power-on or reset and is programmable up to 115,200 thereafter.
After power-on, reset, or transmission of a Break character, the Baud rate will be 9,600. Once communication has been established at
this speed, the Baud rate can be changed to a higher rate (19,200, 57,600, 115,200).
ASCII parameter 0x90 holds the Baud rate data. To set the rate to 115,200 enter this line from a terminal:
s r0x90 115200 <enter>
then, change the Baud rate in the computer/controller to the new number and communicate at that rate.
Additional information can be found in the ASCII Programmers Guide on the Copley website:
http://www.copleycontrols.com/Motion/pdf/ASCII_ProgrammersGuide.pdf
Don’t forget to order a Serial Cable Kit SER-CK when
placing your order for an XM2!
