Yaskawa LEGEND-MC - Manual (Page 48)

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LEGEND-MC User’s Manual
Configuration
Although Yaskawa’s YTerm software automatically configures the port you may need to manually
configure the PC’s serial port if using third party software.
Configure your PC for 8-bit data, one start-bit, one stop-bit, full duplex and no parity. The baud rate for
the RS232 communication can be chosen by selecting the proper jumper configuration on the LEGEND-
MC according to the table below.
Handshaking Modes
The RS232 port is configured for hardware handshaking. In this mode, the RTS and CTS lines are used.
The CTS line will go high whenever the LEGEND-MC is not ready to receive additional characters. The
RTS line will inhibit the LEGEND-MC from sending additional characters.
NOTE: The RTS line goes high for inhibit. This handshake procedure ensures proper communication espe-
cially at higher baud rates.
If a device that is used in conjunction with the LEGEND-MC does not support hardware handshaking,
solder a jumper across the CTS and RTS lines in the cable. Remember that doing so may degrade
communication reliability. Software handshake is not supported.
SMC Protocol Guidelines
The following items outline details of the simple ASCII communication protocol which the LEGEND-
MC implements. NOTE: throughout this section, strings are enclosed in single quotes, and characters are
enclosed in greater than / less than signs < >.
1) Recommended method of querying variables: example `MG VAR<cr>' where MG is the message
command and VAR is a variable defined in the controller.
2) Recommended methods of querying commands: example `MG _TPX<cr>' or `TPX <cr>' where MG
is the controller's message command and TP is the command to return the current position. For other
details, see the command section of an SMC manual. It describes the possible methods of obtaining
data when multiple axes are involved.
3) Recommended method of setting a variable value: example `VAR=105<cr>'
4) Recommended method of setting a command parameter: `PRX=12345<cr>' where PR is the Position
Relative command, "X" is the X axis, and the value assigned after the equal sign is the relative move
distance specified for the X axis. For other details, see the command section of an SMC manual. It
describes the possible methods of obtaining data when multiple axes are involved. Multiple axes can
be set at once. Example `PR 12345,6789<cr>' where PR is the Position Relative command, the first
value is assigned to the X axis and the second value is assigned to the Y axis. If an axis does not need
to be set, it can be omitted as follows: `PR ,,54321<cr>' which will set only the third (Z) axis.
5) Hardware Handshaking is always recommended when communicating with the SMC family of con-
JP1-LOCATION “96” (JUMPER ATTACHED) 9600
JP1-LOCATION “96” (JUMPER UNATTACHED) 19200 (default)