GSK DA98E Series, User Manual

Page: 32 / 105

Chapter 3 Wiring
23
2
）
Control terminal BUS1
Table 3-2 BUS1 Control Signal Input/output Terminals
Terminal
No.
Signal
designation
Marking I/O Mode Function
BUS1-4 BRX- Typel Bus differential data reception
BUS1-5 BRX+ Typel Bus differential data reception
BUS1-6 BTX+ Typel Bus differential data sending
BUS1-7 BTX- Typel Bus differential data sending
3
）
Control terminal BUS2
Table 3-3 BUS2 Control Signal Input/output Terminals
Terminal
No.
Signal
designation
Marking I/O Mode Function
BUS2-4 ARX+ Typel Bus differential data reception
BUS2-5 ARX- Typel Bus differential data reception
BUS2-6 ATX- Typel Bus differential data sending
BUS2-7 ATX+ Typel Bus differential data sending
Brief Description of Bus Communication:
Control terminals BUS1 and BUS2 are the connection network created by the control device and
servo in order to compose a closed loop of Ethernet transfer. The data transferred through Ethernet
includes periodic and non-periodic data. Periodic data is transferred once per Interpolation period and
non-periodic data in idle time.
a) Periodic data: It refers to Master Data Telegram (“MDT”). A CNC sends system control
commands and position/speed/torque data to a servo while the latter transfers the current position
information and the current key state of the servo to the CNC through a bus.
The format of the data sent by CNC --- 3 words:
Length of periodic data (10 bytes )
16bits 16bits 6 bytes
Control word Position/speed/torque data Reserved