Kinco CD2S Series, Руководство пользователя

Страница: 104 / 111

104
Note: Each 10-byte packet has its own CHKS.
If the host sends an ID not existed in the network to the CD2S servo driver, no CD2S servo driver will make a
reply. After the host sends the data correctly, the slave will find the data packets in compliance with its own ID
and check the CHKS value. If the checksum does not match, the slave will not make a response.
9.2 Data Protocol
A data protocol is different from a transport protocol. It contains 8 bytes of all 10 bytes of the above RS-232.
Definition of CD2S servo driver internal data complies with the CANopen international standard. All
parameters, values and functions are expressed by index and subindex.
9.2.1 Download(from Host to Slave)
Download refers to that the host sends a command to write values into the objects in the slave, and the host
generates an error message when the value is downloaded to a non-existent object.
The host sends:
CMD
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
INDEX
SUB
INDEX
DATA
CMD Specifies the direction of data transfer and the volume of data.
23(0x16) Sends 4-byte data (bytes 4...7 contain 32 bits)
2b(0x16) Sends 2-byte data (bytes 4, 5 contain 16 bits)
2f(0x16) Sends 1-byte data (bytes 4 contains 8 bits)
INDEX Index in the object dictionary where data should be sent
SUB INDEX Subindex in object dictionary where data should be sent
In all four bytes in data, the lower-order bits are arranged before the higher-order bits. To write 600 RPM into
―Target Velocity‖ in the slave, the unit of 2FF00910 is rpm, 600 is in decimal system, and 258 is in
hexadecimal system.Since the length of the object to be written is 4 bytes and the calculation result 02 58 has
only 2 bytes,zero shall be filled to the higher-order bits. Therefore, the final result = 00 00 02 58.
DATA: byte4=58,byte5=02,byte6=00,byte7=00
The slave answers:
RES
byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7
INDEX
SUB
INDEX
RESERVED
RES: Displays slave response:
60(0x16) Data successfully sent
80(0x16)
Error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the master
RES Reserved for future use