progressive automations PA-12, Руководство пользователя

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HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data #1
0xFFFFFF 0x01 0x04 0xF3 0x10 0x01 0xF6
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Data #1
0xFFFFFF 0x01 0x04 0xF3 0x10 0x02 0xF5
HEADER ID Size Command Factor #1 Factor #2 Checksum
Address Length
0xFFFFFF 0x00 0x04 0xF2 0x8C 0x02 0x7B
HEADER ID Size Error Factor #1 Factor #2 Checksum
0xFFFFFF 0x00 0x04 0x00 0xFF 0x07 0xF5
5) Load Data
Send address and get data feedback
*Load data is data read. To avoid communication collision, at least 10ms communication delay is required when
using 57600bps baud rate.
• Feedback Return Mode 1: Command packet to send Feedback Packet for Load Data Command only.
• Feedback Return Mode 2: Command packet to send Feedback Packet for all commands
• Present Position: Command packet to read present position
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the Feedback Return Mode value is saved (see (3) Data Map)
- Data: Feedback Return Mode Data (address 0x10: 0x01)
(1: Send Feedback packet only to Load Data (0xF3) Command)
- ID: Refers to the actuator motor ID
- Command: Save data at the respective address in order
- Address: The address at which the Feedback Return Mode value is saved (see (3) Data Map)
- Data: Feedback Return Mode Data (address 0x10: 0x02)
(2: Send Feedback packet to all)
- ID: Refers to the actuator motor ID
- Command: Read bytes (equivalent to the length number) from the address
- Address: The address at which the present position value is saved (see (3) Data Map)
- Length: The number of bytes to read from the address (present position value consists of 2 bytes)
- ID: Refers to the actuator motor ID
- Error: Refers to error indication during operation
- Factor 1: Present position value’s lower byte (ex> 0xFF)
- Factor 2: Present position value’s upper byte (ex> 0x07)
◦ Present position value hex change (hexadecimal to decimal): 0x07FF → 2047
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Progressive Automations – Position Control Communication Protocol
Command Packet
Feedback Packet