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Contents
1.1
Robotic functions..........................................................................................................................................................5
1.2
Operating modes..........................................................................................................................................................5
1.2.1
Normal robotic operation ......................................................................................................................................5
1.2.2
Adjusting / teaching operation and handling of the centrifuge without serial interface ........................................5
2
Communication with Hettich centrifuges..............................................................................................................................6
2.1
Definition:......................................................................................................................................................................6
2.2
General description ......................................................................................................................................................6
2.2.1
Setting of serial interface ......................................................................................................................................6
2.2.2
Control characters and abbreviations...................................................................................................................6
2.2.3
Used telegrams.....................................................................................................................................................6
2.2.4
Additional explanation for the protocol: ................................................................................................................7
2.3
Time behaviour for serial operation..............................................................................................................................7
2.3.1
Time for one ENQUIRY-Telegram........................................................................................................................7
2.3.2
Time for one SELECT-Telegram ..........................................................................................................................7
2.3.3
Rhythm of request ................................................................................................................................................7
2.4
Examples for Telegrams ..............................................................................................................................................8
2.4.1
Example for an ENQUIRY-Telegram:...................................................................................................................8
2.4.2
Example for a SELECT-Telegram: .......................................................................................................................8
2.5
Address of the Centrifuge / Change the address.........................................................................................................9
2.6
Principle for serial communication ...............................................................................................................................9
2.6.1
Detection of the “Generation 2” ............................................................................................................................9
2.6.2
General information for positioning and hatch commands:............................................................................... 10
2.7
General format of parameter content ( V = VAL = Value )........................................................................................ 10
2.8
Synopsis of the parameters....................................................................................................................................... 12
2.9
Short introduction of positioning with the ”new” communication of Generation 2..................................................... 13
2.9.1
Parameter 00524 (definition of the target):........................................................................................................ 13
2.9.2
Parameter 00526 (control commands for positioning and hatch) ..................................................................... 14
2.9.3
Parameter 00528 (information about positioning and hatch state) ................................................................... 14
2.9.4
Parameter 00521 (control commands for centrifugation).................................................................................. 15
2.9.5
Special functions: ACK, NAK and SIOF ............................................................................................................ 15
2.10
Detailed description of the parameters.................................................................................................................. 16
2.10.1
Parameters for "Generation 2" (only valid / possible with / for Generation 2) ............................................... 16
2.10.2
Parameters for Generation 1 and Generation 2 ............................................................................................ 29
2.11
Additional features of communication with ”Generation 2” ................................................................................... 43
2.11.1
Serial communication and visual detection of the communication................................................................ 43
2.11.2
Software-Lock ................................................................................................................................................ 43
2.11.3
Checking values for validity (value has to be inside the allowed range) ....................................................... 43
2.11.4
Limitations...................................................................................................................................................... 43
2.11.5
Query of actual values ................................................................................................................................... 43
2.11.6
Hatch and positioning commands.................................................................................................................. 44
2.11.7
Bit of modification........................................................................................................................................... 44
2.12
State of the centrifuge after power on and general operating states. ................................................................... 44
3
Cookbook for serial control of “Generation 2”................................................................................................................... 46
3.1
Open the hatch .......................................................................................................................................................... 46
3.2
Close the hatch.......................................................................................................................................................... 47
