B
Serial interface RS232
164
Festo – GDCP-CMMS-AS-G2-FW-EN – 1310NH – English
Command
Answer
Syntax
Reading the version number of the firm-
ware.
VERSION?
2300:VERSION:MMMM.SSSS
MMMM: main version: 16 Bit (hexadecimal format)
SSSS:
subversion: 16 Bit (hexadecimal format)
Tab. B.5
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 parametrised and
controlled.
Command syntax
Read: ?XXXXYY
8 bit write: =XXXXYY:WW
16 bit write: =XXXXYY:WWWW
32 bit write: =XXXXYY:WWWWWWWW
Short code
Significance
XXXX
Command index
YY
Command sub-index
WWWW
Data
Tab. B.6
Command syntax RS232
Additional information on CAN objects can be found in the documentation
device profile CiA 402,
P.BE-CMMS-FHPP-CO-SW-….
Example: operate motor controller in direct mode (profile position mode)
The following describes the sequence in principle.
1. Changing of the controller enable logic
The controller enable logic can be changed via the CAN control word (COB 6510_10). Since the
simulation of the CAN interface can be completely taken over via the RS232 interface, the enable
logic can also be converted to DINs + CAN.
–
Command:
=651010:0002
As a result, the release can be granted via the CAN control word (COB 6040_00).
–
Command:
=604000:0006 command “shutdown”
–
Command:
=604000:0007 command “switch on/disable operation”
–
Command:
=604000:000F Command “Enable operation”
2. Activation of the “profile position mode”
The positioning mode is activated via the CAN control word (COB 6060_00 mode of operation).
–
Command:
=606000:01
profile position mode
Summary of Contents for CMMS-AS-G2 Series
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