Parker Gemini GV6K Series, Руководство по установке оборудования

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Chapter 4 – Special Features
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Step 2
The error level must be set to 1 for all units on the daisy chain (ERRLVL1). When
the error level is not set to 1, the unit sends ERROK or ERRBAD prompts after
each command, which makes daisy chaining impossible. Send the ERRLVL1
command to each unit in the chain. (NOTE: To send the ERRLVL1 command to
one specific unit on the chain, prefix the command with the appropriate unit’s
device address and an underline.)
Example Commands:
PORT1 ; Select the “RS-232/485” connector (COM1), as the port affected
; by the following commands.
1_ERRLVL1 ; Set error level to 1 for unit #1
2_ERRLVL1 ; Set error level to 1 for unit #2
3_ERRLVL1 ; Set error level to 1 for unit #3
After this has been accomplished, a carriage return sent from the terminal will not
cause any unit to send a prompt. Verify this.
To send a command to all units on the daisy chain, send the command from the
master terminal:
Example Commands:
OUT1111 ; Turn on onboard outputs 1 – 4 on all units
A50 ; Set acceleration to 50 for all units
To send a command to one particular unit on the daisy chain, prefix the command
with the appropriate unit’s device address and an underline:
Example Commands:
2_OUT0 ; Turn off onboard output 1 on unit #2
4_OUT0 ; Turn off onboard output 1 on unit #4
To receive data from one particular unit on the chain, prefix the command with the
appropriate unit’s device address and an underline:
Example Commands:
2_ERES ; Request drive resolution from unit #2
*ERES4000 ; Response from unit #2
Use the E command to enable/disable RS-232 communications for an individual
unit. If all drive units on the daisy chain are enabled, commands without a device
address identifier will be executed by all units. Because of the daisy chain’s serial
nature, the commands will be executed approximately 1 millisecond per character
later on each successive unit in the chain (assuming 9600 baud).
Units with RS-232 disabled (EØ) will not respond to any commands, except E1;
however, characters are still echoed to the next device in the daisy chain.
Example Commands:
3_E0 ; Disable RS-232 on unit #3
ERES2000 ; Set encoder resolution to 2000 on all other units
3_E1 ; Enable RS-232 on unit #3
3_ERES4000 ; Set encoder resolution to 4000 on unit #3
Verify communication to all units by using the techniques described above.
Step 3
Now that you have verified that the daisy chain is set up properly, you can use the
various Motion Planner tools to configure, program and monitor all units on the
daisy chain. Alternatively, units can be programmed individually by connecting
the master terminal to one unit at a time.
Additional Instructions
For more information, see RS232-C Daisy Chaining in the Programmer’s Guide .