RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 13)

S I X P A C K / Q U A D P A C K 13
6 C O N T R O L
6.1 Control via RS 485 or RS 232-Interface
The RS 485 interface is a bi-directional 2-wire interface and can handle up to 255 slave devices in half-
duplex mode. The RS 232 interface can be used accordingly, however it is not possible to connect
multiple transmitters to the receiver input. The baud-rate is pre-configured to 19200 baud. It can be
changed via command.
Instructions consist of a 9 byte word, which in turn consist of the address of the unit, a command byte
and if required parameters with a length of up to 7 bytes.
Address command P0 P1 P2 P3 P4 P5 P6
The command word always has to be completely transmitted during a parameterized timeout
(s. CMD $41). It will be aborted and not interpreted, when a break-code is received. If errors occur the
interface can be newly synchronized via break-code.
The address of the unit can be set via rotary switches (scanned on reset).
During parameter read out an instruction will be transmitted only after an adjustable transmitter switch-
over time (s. CMD $40; pre-set to 6ms) has passed. This allows the transmitter to switch to receiving
mode. Ditto for the opposite direction: The PACK continues to drive the line for a pre-set time after
transmitting a message. The direction can be checked at the RTS-line of the RS 232-interface (negative
= PACK is in sending mode). The CTS-line will be ignored.
When a valid command word is received, the status LED flashes.
6.2 Control via CAN-Interface
The integrated CAN-Controller supports the full-CAN-specifications 2.0A with 11 address bits. Telegrams
with a fixed length of 8 bytes are used. The address of the unit (upper 8 address bits) can be set via
rotary switches (scanned on reset). The lower 3 address bits are fixed to “000“. Take care: According to
the CAN standard 0 is no valid address! Address range: $008 to $7F8 (in increments of 8).
After receiving the first valid instruction via CAN, control via RS 232 or RS 485 will be terminated. The
CAN response address is transferred to PACK in a 8 bit format, like at RS 232 / 485. For responding the
address is shifted to the left by 3 bits, resulting in the same address range as defined above. If
continuous error conditions occur, CAN and RS 232 / 485 will be newly initialized.
⇒ Setting of the Baudrate via Jumper
Baudrate JP1 JP2
(1 Mbit/s (*)) x x
500 kbit/s (*) - x
125 kbit/s (*) x -
250 kbit/s (default)(*) - -
(*) Note: The PACK has an internal cache for 16 CAN-commands, internal processing time is approx. 2
ms per command.
In order to get the actual jumper-configurations send CMD $30.
6.3 RS 232-Remote Control via CAN-Interface
The RS 232-interface can be controlled via CAN. Therefore the baud-rate is set via command “RS 232-
change baud-rate“. Only 8 bit, 1 stop bit and no parity is possible. Of course 7 bit and parity could be