40
DYN2MS-02F-0116A17
7
RS232 Communication Protocol
The RS232 port is always active after power on for DYN series drive. This active RS232 port could be used for
reading and setting Drive parameters and status and also can be used for sending point to point position com
-
mand if the RS232 mode is selected for position command input.
This DYN232M integrated motion command includes point-to-point S-curve, linear, arc and circular interpolation
for up to 3-axis of coordinated motion. These profiles can be easily executed using dedicated function codes.
The DYN servo drive features the most advanced built in S-Curve Generator in the industry to realize point to
point S-Curve motion. Response is extremely fast and motion filters are built in to optimize stability and provide
smoothest motor response. Featuring Dynamic Target Position Update ( DTPU ) technology, target position can
be instantaneously changed (without current command completion) and robot movements can be realized with
much faster cycle time and higher universal efficiency.
If the position command is selected as other modes, such as PULSE/DIR, CW/CCW, SPI or Analog mode, the
RS232 port is still active as mentioned above but only can be used for reading and setting drive parameters and
reading and setting drive status registers (Section 7.3).
The RS232 port can be accessed by a variety of host controllers including PC, microcontroller, FPGA, Arduino
or motion controller. The host device is working as a master and the servo drive is always working as a slave.
Several drives can be linked for a serial network in RS485.
DYN232M
DYN232M
D Y N A C S E RV O S Y S T E M - R S 2 3 2 M O T I O N
TM
RS232 Functions Include:
♦ Reading and changing servo drive parameters
♦ Reading and monitoring servo drive status including alarm, busy, in position, enable etc.
♦ Reading and monitoring servo drive configuration including servo mode,
incremental/absolute mode, command mode, enable etc.
♦ Absolute encoder homing
♦ Absolute encoder position monitor: 16-bit absolute, 32-bit multi-turn
♦ Initiate generic profiles ConstSpeed, Square Wave, Sine Wave
♦ DYN232M motion control commands including:
♦ S-Curve point to point
♦ 3-axis coordinated linear motion
♦ 3-axis coordinated circular motion (arc, circle, oval)
♦ Incremental (relative) or absolute modes
The sample code in Section
7.7A Appendix : C++ Code for Serial Communication Protocol
should be used
extensively to efficiently and accurately generate the RS232 data packet. Each subroutine function automatically
generates data packet structure for sending command and reading from DYN servo drive.
Never use serial communication to set the Drive configuration or parameters at a fast rate. This will cause servo
drive EEPROM busy in writing parameters all the time and also shorten it’s lifetime. The guaranteed parameter
writing cycle for EEPROM is 1 million times. Once a group of parameters and configuration are set, use it until
next necessary change.
TM
DTPU
P O S I T I O N I N G
Example Host Controllers:
- Microcontroller/Embedded Controller
- PC (windows serial port via C/C++/C#, VB, Java etc.)
- PLC/HMI with serial output
- Arduino
