Festo CMMD-AS series, Description

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B RS232 serial interface
Festo – GDCP-CMMS/D-FW-EN – 1404NH – English 237
B.2 Commands/syntax of the RS232 interface
B.2.1 General commands
Command Syntax Answer
New initialisation of the positioning
controller
RESET! None (switch-on message)
Save the current parameter record and
all position records in the non-volatile
flash memory
SAVE! DONE
Setting the transmission rate for serial
communication
BAUD9600
BAUD19200
BAUD38400
BAUD57600
BAUD115200
Unknown command Any ERROR!
Reading the version number of the
firmware.
VERSION? 2300:VERSION:MMMM.SSSS
MMMM: Main version: 16 Bit (hexadecimal format)
SSSS: Subversion: 16 Bit (hexadecimal format)
Tab. B.3 General commands
B.2.2 Control motor controller via CAN-Interpreter (CI)
Communication of the CAN-Interpreter (CI) is based on the service data objects (SDO) of the CANopen
device profile CiA 402. Through the RS232 interface, the motor controller can be parameterised and
controlled.
Command syntax
Read: ?XXXXYY
8 bit write: =XXXXYY:WW
16 bit write: =XXXXYY:WWWW
32 bit write: =XXXXYY:WWWWWWWW
Brief description Significance
XXXX Command index
YY Command sub-index
WWWW Data
Tab. B.4 Command syntax RS232
For additional information on CAN objects description “device profile CiA 402, simulation of SDO
access”, GDCP-CMMS/D-C-CO-…