Galil Motion Control RIO-47**0, Руководство пользователя

Страница: 20 / 107

software has various options for sending messages using the CF command. For more information, see the CF
command description in the Command Reference.
The CW command has two data fields that affect unsolicited messages. The first field configures the most
significant bit (MSB) of the message. A value of 1 will set the MSB of unsolicited messages, while a value
of 2 suppresses the MSB. Programs like HyperTerminal or Telnet need to use a setting of CW2 for the
unsolicited messages to be readable in standard ASCII format. However, the Galil software needs a value of
CW1 to be set so that it can differentiate between solicited and unsolicited messages. If you have difficulty
receiving characters from the controller, or receive garbage characters instead of messages, check the status
of the CW command.
The second field of the CW command controls whether the product should pause while waiting for the
hardware handshake to enable the transmission of characters over RS-232 (CW,0), or continue processing
commands and lose characters until the hardware handshake allows characters to be sent (CW,1).\
Other Protocols Supported
Galil supports DHCP, ARP, BOOT-P, and Ping, which are utilities for establishing Ethernet connections.
ARP is an application that determines the Ethernet (hardware) address of a device at a specific IP address.
BOOT-P is an application that determines which devices on the network do not have an IP address and
assigns the IP address you have chosen to it. Ping is used to check the communication between the device at
a specific IP address and the host computer.
The RIO can communicate with a host computer through any application that can send TCP/IP or UDP/IP
packets. A good example of this is Telnet, a utility that comes standard with the Windows operating system.
When using DHCP and a DNS (Domain Name Server), the DNS will assign the name “RIO47100-n” to the
controller where n is the serial number of the unit.
Modbus with the RIO
The RIO-47xxx supports Modbus/TCP, and requires an Ethernet connection between its master or slave
devices.
As a Modbus class 1 device, the RIO supports the following Modbus function codes:
Function Code Modbus Description Galil Description
1 Read Coil Status Read Digital Outputs
2 Read Input Status Read Digital Inputs
3 Read Holding Registers Read Analog Inputs
4 Read Input Registers Read Analog Outputs
5 Force Single Coil Write Digital Output
6 Preset Single Register Write Digital Outputs
7 Read Exception Status Read Digital Outputs
15 Force Multiple Coils Write Digital Outputs
16 Preset Multiple Registers Write Analog Outputs
Of the Modbus function codes the RIO supports, all are supported by the RIO when it operates as a master
(also known as a client) or when it operates as a slave (server).
Note 1: By default the RIO uses function code 3 for analog inputs and function code 4 for analog outputs.
For a majority of Modbus devices this functionality is inverted. Use the MV command to switch the
functionality. Please see the command reference for details.
Note 2: The remainder of this document uses the '$' symbol to signify that numbers are in hexadecimal
notation.
14 Chapter 3 Communication RIO-47xxx