Communication Interface: EM70 Servo Controller
Communication Interface: EM70 Servo Controller
Communication Interface: EM70 Servo Controller
Servo Controller
COMMUNICATION INTERFACE
(RS-232C/RS-485)
INSTRUCTION MANUAL
CONTENTS
1. Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
7. Supplementary description. . . . . . . . . . . . . . . . . . . . . . . . 15 ~ 16
7-1 Event type list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
7-2 ASCII code list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
EM70C-1AE
Oct. 2001
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1. Outline
There are two types of communication systems, RS-232C and RS-485 employable as the EM70 communication interface. Each
of them is capable of setting various data for the EM70 and reading through a personal computer or the like, using signals which
comply with EIA standards. RS-232C and RS-485 are data communication standards established by the Electronic Industries
Association of the U.S. (EIA). The standards cover electrical and mechanical aspects, that is, matters related to applicable
hardware but not the data transmission procedure of software. Therefore, it is not possible to communicate unconditionally with
an apparatus which has the same interface. Hence, users need to have sufficient knowledge of specifications and transmission
procedure.
When RS-485 is used, two or more of EM70 Servo Controller can be connected to one another. There seems to be a limited
number of personal computers, etc., which support this interface, but the use of a line converter for RS-232C <---> RS-485
creates stability.
2. Specifications
Signal level: Following EIA RS-232C and RS-485
Communication system: RS-232C 3-line half duplex system
RS-485 2-line half duplex multidrop (bus) system
Synchronization system: Half duplex start-stop synchronization system
Communication distance: RS-232C 15m maximum
RS-485 maximum total of 500m (differs depending on conditions.)
Communication rate: 1200, 2400, 4800, 9600 and 19200bps
Transmission procedure: No procedure
Data format: Data 7 bits, even parity stop 1 bit
Data 7 bits, even parity stop 2 bits
Data 7 bits, no parity, stop 1 bit
Data 7 bits, no parity, stop 2 bits
Data 8 bits, even parity, stop 1 bit
Data 8 bits, even parity, stop 2 bits
Data 8 bits, no parity, stop 1 bit
Data 8 bits, no parity, stop 2 bits
Communication code: ASCII codes
Isolation: Insulated between communication signals and various inputs, system and various outputs
3-1 RS-232C
Host (25 pins) EM70 Host (9 pins) EM70
FG (1)
SD (2) RD (28) Data receiving SD (3) RD (28) Data receiving
RD (3) SD (27) Data transmission RD (2) SD (27) Data transmission
SG (7) SG (26) Grounding for signal SG (5) SG (26) Grounding for signal
RS (4) RS (7)
CS (5) CS (8)
DR (6) DR (6)
ER (20) ER (4)
3-2 RS-485
The input/output logical level of the EM70 Servo Controller is basically as follows:
In the mark state - terminal < + terminal
In the space state - terminal > + terminal
Until immediately before transmission, however, plus terminals and minus terminals of the controller have high impedance
and outputs at the above levels are produced immediately before starting transmission. (See 3-3 3-state output control.)
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Host EM70
FG Controller 1
+ + (27)
– – (28)
SG SG (26)
Controller 2
+ (27)
– (28)
SG (26)
Controller N
+ (27)
– (28)
SG (26)
Terminal
resistor (120Ω)
Note 1: In the case of RS-485, provide it with the attached terminal resistor of 1/2W, 120Ω across terminals + and – before use,
if necessary. Nevertheless, it should be provided to only the last controller.
If two or more controllers are provided with terminal resistors, correct operation cannot be guaranteed.
Note 2: The figures in parentheses represent the connector pin numbers.
A communication mode is selected. However, front key operation can change only from COM to LOC.
L mode: Only read commands through communication are valid.
C mode: Both read and write commands through communication are valid.
Note: When a communication mode is selected, all the setting screens except the communication mode setting screen are locked.
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4-2 Communication address setting screen
1-18
Initial value: 1
Selectable range: 1 ~ 99
While one EM70 controller is to be connected to a host computer in the case of RS-232C, the RS485's multidrop
system allows 31 controllers (maximum) to be connected to a host computer.
Therefore, an address (machine No.) is assigned to each controller for identification so that only the one with a
designated number can respond.
Note 1: Addresses 1 to 99 can be set but the number of connectable apparatuses is limited to 31.
• EEP mode: In this mode EEPROM data are also rewritten every time data are changed by
communication. Accordingly, data are maintained when power is turned off.
• RAM mode: In this mode only RAM data are rewritten but EEPROM data are not when data are
changed by communication. Therefore, RAM data are deleted when power is turned off. Upon
applying power again, operation starts with data stored in EEPROM.
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4-8 Communication delay time setting screen
1-24
Initial value: 20
Setting range: 0 ~ 100
Set the length of delay time from receipt of a communication command to transmission.
Delay time=0.25 × set value [msec]
Note 1: When RS-485 is used, some converters take longer time for 3-state control than others and it may lead to signal collision.
This can be avoided by increasing delay time. Care should be taken particularly when the communication rate is slow
(1200bps or 2400bps).
Note 2: In case set value=0, internal operation is carried out with set value=1.
Note 3: Actual delay time from receipt of a communication command to transmission is a total of the above-mentioned delay time
and command processing time by software. Particularly for writing commands, about 400 msec may be taken for
processing.
The EM70 allows for a variety of communication formats (start character, text end character, end character and BCC operating
method) and communication data formats (data bit length, whether or not of parity, and stop bit length) for easy compliance with
other protocols.
Nonetheless, the following serves as their basic format and you are encouraged to use them uniformly:
• Communication format
Control code (start character, text end character, end charactor)→STX_ETX_CR
Check sum (BCC operating method)→Add
• Communication data format (data bit length, whether or not of parity, stop bit length)→7E1 or 8N1
For setting a communication format and a communication data format, see "4. Setting of parameters related to communication."
a b c d e f g h i j
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
STX 0 1 1 R 0 1 4 0 2 ETX E 0 CR
STX 0 1 1 W 0 1 8 C 0 , ETX E 7 CR
****
Basic format portion I Text portion Basic format portion II
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2) Response format
Text end character
Start character Sub-address
End character (delimiter)
Machine address Command type
Response code BCC data
Data
a b c d e g h i j
1 2 3 4 5 6 7 11 12 13 14 15 16
STX 0 1 1 R 0 0 , ETX 3 C CR
STX 0 1 1 W 0 0 **** ETX 4 E CR
Basic format portion I Text portion Basic format portion II
• The basic format portions I and II are common to read commands (R), write commands (W) and responses.
Nonetheless, in BCC data of i ( 13 , 14 ) operation result data is inserted each time.
• The text portion differs depending on the types of commands, data addresses, responses, etc.
02H +30H +31H +31H +52H +30H +31H +34H +30H +32H +03H = 1E0H
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Example 2: In the case of a read command (R) with "Add_two's cmp" set:
1 2 3 4 5 6 7 8 9 10 12 13 14 15 16
STX 0 1 1 R 0 1 4 0 2 ETX 2 0 CR LF
02H +30H +31H +31H +52H +30H +31H +34H +30H +32H +03H = 1E0H
Low position 1 byte of result of addition (1E0H)=E0H
Two's complement of low position 1 byte (E0H)=20H
13 : "2"=32H, 14 : "0"=30H
STX 0 1 1 R 0 1 4 0 2 ETX 5 6 CR LF
02H 30H 31H 31H 52H 30H 31H 34H 30H 32H 03H = 56H
・ = XOR (exclusive OR), though.
Hexadecimal numbers 0H 1H 8H CH
(Hex) "0" "1" "8" "C"
ASCII data 30H 31H 38H 43H
6 7 8 9
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• The data format is as follows:
g ( 11 )
High position
High position
High position
Low position
Low position
Low position
2nd digit
2nd digit
2nd digit
3rd digit
3rd digit
3rd digit
4th digit
4th digit
4th digit
1st digit
1st digit
1st digit
","
2CH
• Data is always preceded by comma ("," 2CH) to show the subsequent portion is data.
• No punctuation code is used between data and data.
• The number of data is determined by the number of data (f: 10 ) of the communication command format.
• Each data is expressed by binary 16 bits (1 word), excluding a decimal point, as a unit. The position of decimal
point is fixed in each data.
• 16 bit data are split into 4 bit groups and respectively converted to ASCII data.
• For details of data, refer to 5-3 Details of read commands (R) and 5-4 Details of write command (W).
e: Response code [ 6 , 7 : 2 digits]
• Designates a response code to a read command (R) or a write command (W).
• Binary 8 bit data (0 ~ 255) are split to high position 4 bits and low position 4 bits and respectively converted to
ASCII data.
6 : ASCII data converted from high position 4 bits.
7 : ASCII data converted from low position 4 bits.
• In the case of normal response, "0" (30H), "0" (30H) is designated.
• In the case of abnormal response, abnormal code No. is converted to ASCII data and designated.
• For details of response codes, refer to 5-5 Details of Response codes.
Text portion
d e f
d: Indicates that it is a read command.
5 6 7 8 9 10
e: Designates the front data address of data to be read.
f: Designates how many data (words) are to be read from
R 0 1 4 0 2
the front data address.
52H 30H 31H 34H 30H 32H
d e g
5 6 7 11
first data second data 3rd data
R 0 0 , 0 1 F 4 0 0 3 2 0 0 1 E
52H 30H 30H 2CH 30H 31H 46H 34H 30H 30H 33H 32H 30H 30H 31H 45H
d e
5 6 7
R 0 7
52H 30H 37H
To use a write command, the COMM mode has to be selected on the 4-1 Communication mode selecting screen. As this
parameter is unable to be changed from LOC to COM by front key operation, however, the change should be made by the
following command transmission: (in the case of Address=01, Sub-address=1, Control code=STX_ETX_CR, and Check
sum=Add.)
Command format
STX 0 1 1 W 0 1 8 C 0 , 0 0 0 1 ETX E 7 CR
02H 30H 31H 31H 57H 30H 31H 38H 43H 30H 2CH 30H 30H 30H 31H 03H 45H 37H 0DH
Once the above command is transmitted and a normal response is returned, the COM LED lamp on the front panel lights and
mode is changed to communication.
d e f g
5 6 7 8 9 10 11
Data to be written
W 0 5 0 0 0 , 0 0 0 2
57H 30H 35H 30H 30H 30H 2CH 30H 30H 30H 32H
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• d: Indicates that it is a write command. It is fixed to "W" (57H).
• e: Designates the front data address of data to be written (changed).
• f: Designates the number of data to be written (changed).
• g: Designates data to be written (changed).
1. To begin with, <, (2CH)> indicating the head of data is inserted.
2. Then, data to be written (changed) are inserted.
3. The respective data comprise binary 16 bits (1 word) data, excluding a decimal point, and are converted, 4 bits
as a unit, to ASCII data and inserted.
4. The position of decimal point is fixed in the respective data.
• The above command means the following:
Front data address of data to be written = 0500H (hexadecimal)
= 0000 0101 0000 0000 (binary)
The number of data to be written = 0H (hexadecimal)
= 0000 (binary)
=0 (decimal)
(The actual number of data) = one (0+1)
Data to be written = 0002H (hexadecimal)
= 0000 0000 0000 0010 (binary)
=2 (decimal)
Thus, writing (changing) of data address 0500H and one piece of data (2: decimal) is designated.
d e
5 6 7
W 0 0
57H 30H 30H
d e
5 6 7
W 0 9
57H 30H 39H
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A List of Response Codes
Response code
Type of code Description
Binary numbers ASCII
0000 0000 "0", "0" : 30H, 30H Normal response Normal response to read command (R) or
write command (W)
0000 0001 "0", "1" : 30H, 31H Hardware error When a hardware error such as framing
in text portion overrun or parity error has been detected in
data in the text portion.
0000 0111 "0", "7" : 30H, 37H Format error of text portion Format of text portion is different from
what was fixed.
0000 1000 "0", "8" : 30H, 38H Error in data of text portion, Data of text portion is not in fixed format,
data address or the number or data address or the number of data is
of data different from designated one.
0000 1001 "0", "9" : 30H, 39H Data error Data to be written get beyond range in
which setting is possible.
0000 1010 "0", "A" : 30H, 41H Execution command error Execution command (such as AT command)
was received in conditions where that
execution command is not acceptable.
0000 1011 "0", "B" : 30H, 42H Write mode error Some types of data are unable to be
changed at certain points in time. Write
command containing such data was
received at such a time.
0000 1100 "0", "C" : 30H, 43H Specification or Write command containing data of
option error specification or option which was not
added was received.
(3) Data
• Since data comprise binary numbers (16 bit data) without a decimal point, the form of data, whether there is a
decimal point or not, etc., have to be confirmed. (See the instruction manual of the instrument itself.)
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Example) How to express 16 bit data
0 0000 0 0000
~ 1 0001 1 0001
~
32767 7FFF 32767 7FFF
-32768 8000 32768 8000
-32767 8001 32769 8001
~
~
-2 FFFE 65534 FFFE
-1 FFFF 65535 FFFF
(6) Parameters not shown in front panel displays owing to action specifications or setting specifications
• Even parameters which are not shown (used) on the front panel displays owing to action specifications or setting
specifications are possible to be read and written in communication.
Data
address Parameter Details of parameter R/W
(hex)
0040 Series code 1 R
0041 Series code 2 R
0042 Series code 3 R
0043 Series code 4 R
• The address areas listed above become product ID data areas and data are ASCII data, 8 bits as a unit.
Therefore, one address represents two data.
• A series code is expressed by 8 data maximum and a surplus area is filled with 00H data.
Data
address Parameter Details of parameter R/W
(hex)
0104 EXE_FLG Action flag R
0105 EV_FLG Event output flag R
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Data
address Parameter Details of parameter R/W
(hex)
0111 INP_RANGE Input range (Current: 0: 4~20mA, 1: 0~20mA R
Voltage: 0: 0~10V, 1: 0~5V, 2: 1~5V )
Data
address Parameter Details of parameter R/W
(hex)
0186 STBY 1: Stand-by, 0: Run W
Data
address Parameter Details of parameter R/W
(hex)
0500 EV1_M Type of event 1 Refer to supplementary explanation. R/W
0501 EV1_SP Set value of event 1 Refer to supplementary explanation. R/W
0502 EV1_DF Event 1 hysteresis R/W
0503 EV1_STB Event 1 stand-by action 0: Without, 1: With R/W
0611 KEY_LOCK Keylock (0=OFF, 1=Excluding STBY, EV set value, DI setting and MAN, R/W
2=Excluding MAN, 3=All)
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Data
address Parameter Details of parameter R/W
(hex)
0647 SCL_MOD Scaling mode 0: Input, 1: Opening R/W
0648 SCL_L Scaling on lower limit side (Lower limit side < Higher limit side) R/W
0649 SCL_H Scaling on higher limit side (Lower limit side < Higher limit side) R/W
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7. Supplementary Explanation
7-1. Event Type List
Event code Event type Value Setting range of event SV Event SV initial value
Without 0
Degree of opening error 7 EV output continues despite error in the degree of opening
Control loop out of order 9 EV output continues, for example, when motor is out of operation
for a long time.
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7-2. ASCII code list
b4 ~ b1 0 1 2 3 4 5 6 7
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