Lenze 931E/K Small Drives Control - Manual (Page 163)

Appendix
Serial communication protocol
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163 SW−HB 13.0002−EN 4.1
10.3 Serial communication protocol
The 931E/K servo positioning controller and the SDC parameterisation interface
communicate via a serial communication protocol in ASCII format. All commands are
terminated by a <CR> (return).
For the exact technical data of the serial interface, please see the chapter "Control via the
serial interface". (
¶ 159)
Communication mainly takes place via so−called communication objects.
The communication objects are used to access the actual values and parameters of the
servo positioning controller. All physical values are transferred in normalised base units. In
the following table, you can find the command syntax of the communication objects:
Command Response Description
Write object:
OW:NNNN:DDDDDDDD OK! or OW:FFFF FFFF If no error occurs, "OK!" will be
returned. If an error occurs, the
command and an error code will be
sent.
Read object:
OR:NNNN NNNN:DDDDDDDD or
OR:FFFF FFFF Response usually 32 bits. If an error
occurs, the command and an error
code will be sent.
Read internal value:
OI:NNNN NNNN:DDDDDDDD or
OI:FFFF FFFF
Read minimum value:
ON:NNNN NNNN:DDDDDDDD or
ON:FFFF FFFF
Read maximum value:
OX:NNNN NNNN:DDDDDDDD or
OX:FFFF FFFF
Letter Meaning (hexadecimal)
NNNN Communication object number
DD...D Data bytes
FF...F Error code:
0x00000002 Data value too low > not written
0x00000003 Data value too high > not written
0x00000004 Data value too low > written but previously limited
0x00000005 Data value too high> written but previously limited
0x00000008 Non permissible bit constant
0x00000009 Bit data value is currently (in this operating mode) not permissible
0x00000010 Read or write error in Flash
0x00020000 Lower limit for object does not exist
0x00030000 Upper limit for object does not exist
0x00040000 No object with this number available (object does not exist)
0x00050000 Object must not be written
In addition to the access commands for the communication objects, there are a few control
commands for the servo positioning controller.
The following table gives you an overview of the commands used: