Motor Power Company DUET_FL 48/10, User Manual

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6.3 Serial communication protocol
A serial communication protocol in the ASCII format is used for the communication between the
DUET_FL servo positioning controller and the DUET_FL ServoCommander
TM parameterization
program interface. A command always has to be terminated by <CR>.
The technical data of the serial interface are described in
chapter 6.1.3 Serial communication through
DUET_FL ServoCommanderTM .
So-called communication objects are used mainly for the communication.
You can access the actual values and parameters of the servo positioning controller using these
communication objects. Physical quantities are transferred in standardized basic units. The following
table shows the command syntax of the communication objects:
Table 20: Command syntax of communication objects
Command Response Description
Write object:
OW:NNNN:DDDDDDDD OK!
or
OW:FFFF FFFF
In the error-free case, "OK!" will be returned. In the
case of an error, the command and an error code will
be transmitted.
Read object:
OR:NNNN NNNN:DDDDDDDD
or
OR:FFFF FFFF Always 32 bits as the reply. In the case of an error, the
command and an error code will be transmitted.
Read internal value:
OI:NNNN NNNN:DDDDDDDD
or
OI:FFFF FFFF Always 32 bits as the reply. In the case of an error, the
command and an error code will be transmitted.
Read minimum value:
ON:NNNN NNNN:DDDDDDDD
or
ON:FFFF FFFF Always 32 bits as the reply. In the case of an error, the
command and an error code will be transmitted.
Read maximum value:
OX:NNNN NNNN:DDDDDDDD
or
OX:FFFF FFFF Always 32 bits as the reply. In the case of an error, the
command and an error code will be transmitted.
Table 21: Meaning of letters in the command syntax
Letter Meaning (hexadecimal)
NNNN Communication object number
DD...D Data bytes
FF...F Error code
0x00000002
Data value too low > not written
0x00000003 Data value too high > not written
0x00000004 Data value too low > written but limited beforehand
0x00000005 Data value too high > written but limited beforehand
0x00000008 Bit constant value not permissible
0x00000009 Bit data value not permissible at present (in this operating mode)
0x00000010 Read or write error in flash memory
0x00020000 Lower object limit does not exist
0x00030000 Upper object limit does not exist
User Manual DUET_FL „DUET_FL 48/10“ Version 1.1 Motor Power Company