Baumer N 142 - Manual (Page 10)

N 142
www.baumer.com 10
Example 1: Readout current status (Status = 0 = not released)
SOH Adr Cmd EOT CRC
Transmission
01h 20h 44h 04h 04h
SOH Adr Cmd Stat. EOT CRC
Response
01h 20h 44h 30h 04h 64h
Example 2: Start a specific motor
SOH Adr Cmd Stat. EOT CRC
Transmission
01h 20h 44h 31h 04h 66h
SOH Adr Cmd Stat. EOT CRC
Response
01h 20h 44h 31h 04h 66h
Example 3: Start all motors by broadcast command (identifier = 99)
SOH Adr Cmd Stat. EOT CRC
Transmission
01h 83h 44h 31h 04h 7Bh
Response Not confirmed
Motor holding torque off / on, command „DB“ (44h, 42h)
Prior to utilizing the “DB” command to disable / enable the holding torque it must be activated first in command
„m“ since otherwise command „DB“ remains ineffective.
Holding torque always enable means that only motive shaft positioning operations are possible - either by aid of
the two keys provided or by a corresponding command via interface. The holding torque is automatically
disabled as soon as the motor is getting a start command and will later automatically be re-enabled. Manual
positioning operations by hand cranks etc require disabling the holding torque first by command “DB”.
Following modes are available:
Status Function
0 (30h) holding torque disable
1 (31h) holding torque enable
Example 1: Read out current status (status = 0 : without holding torque)
SOH Adr Cmd SCmd EOT CRC
transmitted
01h 20h 44h 42h 04h 80h
SOH Adr Cmd SCmd Stat. EOT CRC
response
01h 20h 44h 42h 30h 04h 6Dh
Example 2: Disable holding torque (status = 0 : unblock holding torque)
SOH Adr Cmd SCmd Stat. EOT CRC
transmitted
01h 20h 44h 42h 30h 04h 6Dh
SOH Adr Cmd SCmd Stat. EOT CRC
response
01h 20h 44h 42h 30h 04h 6Dh
Example 3: Disable holding torque for all motors by broadcast-command (ID=99)
SOH Adr Cmd SCmd Stat. EOT CRC
transmitted
01h 83h 44h 42h 30h 04h 57h
response not confirmed
Note: If the holding torque is enabled (command „m“), clamping will always be activated upon power on, reason
why holding torque OFF by command „DB0“ remains only effective whilst device is under power supply.