Technology function

I12 T11

Extended Positioning via

RS232/485

Presented by: Jay Schultz

Serial Command INPUT WORD ANALOGY

Configure your drive to be:

S025V2F10I12T11M00
SET 1: SET 2:
No Homing P=5 P = -20
V=5 V = 100
A = 100 A = 4500
I/O Assignment
keep at FREE D = 100 D = 4500
 Serial Command INPUT WORD ANALOGY

Why is Serial Important?

It allows a Compax3 to be used with any device capable of sending out
Serial commands 6K, ACR9000, PC (VB, C++, or HyperTerminal) or a
PLC
It is the foundation for all fieldbus data exchange
Conceptually very similar to using this with DeviceNet, Profibus or
CanOpen
 Serial Command INPUT WORD ANALOGY
Refer to I12T11 laminated cheat sheet

I11T12 - Assignment
I0 Quit/Energize Motor [must be on for motion] O0 No Error
Think of this as a WORD (16 Bits)

Think of this as a BYTE (8 Bits)

I1 No Stop [must be on for motion] O1 Postion/Velocity/Gear Sync Reached

I2 JOG + (Must have velocity in controller) O2 No Power Output State Current

I3 JOG - (Must have velocity in controller) O3 Motor Stationary w/Current Setpoint

I4 Registration Input O4 Reference System Referenced

I5 Limit Switch 1 O5 Programmable Status Bit 0

I6 Limit Switch 2 O6 Programmable Status Bit 1

I7 Machine Ref. (Home Switch) O7 Programmable Status Bit 2

I8 Address 0

I9 Address 1

I10 Address 2

I11 Address 3

I12 Address 4

I13 Start [Edge Trigger "GO"]

I14 No Stop [must be on for motion]

I15 Not Used

 Serial Command INPUT WORD ANALOGY

We know that before a motion set

(profile) can take place the hardware
inputs must read:
Input 0 = 1 (on)
Input 1 = 1 (on)
Input 14 = 1 (on)

Think of Input 0 as Bit 15 and

Input 0 Input 15 as Bit 0 (16 total) Input 15
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0

The binary address would be: 1100000000000010

 Serial Command INPUT WORD ANALOGY

Input 0 Input 15
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0

Bit Bit Bit Bit

Hex Value 3 2 1 0
0 = 0 0 0 0
1 = 0 0 0 1 Lets look at the HEX equivalent to the
2 = 0 0 1 0
1100000000000010 binary number
3 = 0 0 1 1 There or 4 groups of 4 bits
4 = 0 1 0 0
5 = 0 1 0 1
6 = 0 1 1 0 Group 1 = 1100b = C
7 = 0 1 1 1
8
9
=
=
1
1
0
0
0
0
0
1
Group 2 = 0000b = 0
A = 1 0 1 0
Group 3 = 0000b = 0
B = 1 0 1 1
C = 1 1 0 0 Group 4 = 0010b = 2
D = 1 1 0 1
E = 1 1 1 0
HEX EQUIVALENT = C002
F = 1 1 1 1
 Serial Command CONTROL WORD of the Compax3
Now, in your mind change from
the Input Word ON your hardware
demo to a Control Word that
resides INTERNALLY in specific
registers of the Compax3 called
Objects.

This is the Control Word which is Object o1100.3

Bit 15 Bit 0

HINT: Each bit of the Control Word is similar to flipping a hardware input or turning on a hardware output
Serial Command CONTROL WORD of the Compax3

HINT
Your laminated I/O
Assignment
See any similarities
to the Control Word?

It is exactly the same

except for:
 Serial Command CONTROL WORD of the Compax3
Control Word/Object o1100.3

Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1

Example 1: What will happen with: 0000 0000 1001 0000?BitWhat

Bit
is
Bit
the
Bit
HEX Value?
Hex Value 3 2 1 0
Example 2: What will happen with: $4003? 0 = 0 0 0 0
1 = 0 0 0 1
2 = 0 0 1 0
3 = 0 0 1 1
4 = 0 1 0 0
Symbol 5 = 0 1 0 1
for HEX 6 = 0 1 1 0
7 = 0 1 1 1
8 = 1 0 0 0
9 = 1 0 0 1
A = 1 0 1 0
B = 1 0 1 1
C = 1 1 0 0
D = 1 1 0 1
E = 1 1 1 0
F = 1 1 1 1
Serial Command Setting up HyperTerminal
1. Click on HyperTerminal in Windows and this
screen will appear in front of the actual terminal

Make sure you

turned you
ServoManager
Communications
off before
proceeding
Serial Command Setting up HyperTerminal

Next, select whichever

COM Port your USB
adapter is using
Serial Command Setting up HyperTerminal

These are the

communication settings to
input
Serial Command Setting up HyperTerminal

1. Click File > Properties

and Compax3 Class
Properties box come up
2. Click on Settings Tab
3. Then on ASCII Setup
Serial Command Setting up HyperTerminal

Click these
boxes then OK

And OK again

You should be in
HyperTerminal
Screen now
Serial Command Connected

Hitting Enter will return these

characters we are
connected
Serial Command Making Motion

ANSWERS What are these

commands
0000000000000000
doing?
0100000000000011
Bit Bit Bit Bit
Hex Value 3 2 1 0
0110000100000011
0 = 0 0 0 0
1 = 0 0 0 1
0100000000000011
2 = 0 0 1 0
3 = 0 0 1 1
0110000100000011 4 = 0 1 0 0
5 = 0 1 0 1
0100000000000011 6 = 0 1 1 0
7 = 0 1 1 1
0110001000000011
8 = 1 0 0 0
9 = 1 0 0 1
0100000000000011
A = 1 0 1 0
B = 1 0 1 1
0000000000000000
C = 1 1 0 0
D = 1 1 0 1
E = 1 1 1 0
F = 1 1 1 1
Thank you!