RMS Technologies 4-AXIS CONTROLLER/DRIVER - Manual (Page 29)

S I X P A C K / Q U A D P A C K 29
⇒ Function of the ready Output
The ready output can be activated (low, open collector), whenever a motor is active (velocity greater
than 0) or search of reference. The ready output will be switched within 2 ms after start/end motor
movement. The repeatability (jitter) equals approximately the microstep rate during start respectively
stop (s. CMD $13).
CMD $33
P0 mask for active motors (bit 0=motor 0, bit 5=motor 5)
P1 mask for reference search of a motor (bit 0=motor 0, bit 5=motor 5)
8.6 Other Settings
⇒ Adjust RS 232 / RS 485 Baud rate
CMD $40
P0,P1 # baud rate divisor (16 bit): baud rate divisor=20MHz/ (16*baud rate)
P2,P3 # transmitter switch on/off delay time in increments of 2ms (1..1000) (default: 6ms)
⇒ Setting of Timeout for Abort of Packet (RS 232 / RS 485)
CMD $41
P0,P1 # timeout in increments of 2ms (2..65535)
⇒ Change Address of Unit (RS 232 / RS 485)
CMD $42
P0 new RS 232 / RS 485 address
⇒ Read out Information about Unit
Allows to read out of firmware revision, reset-flag, temperature and serial number.
CMD $43
P0 response address
response
CMD $43
P0
firmware-revision (e.g. 148=V1.4.8)
P1 reset flag: during first read out 1, afterwards 0
P2 temperature of PACK in °C (8 bit signed)
P3,P4 # serial number
⇒ Configure /query RS 232-operating Mode via CAN
CMD $44
P0 response address
P1 response address for RS 232-receiving via CAN (upper 8 bit)
P2 number of bytes which should be forwarded with RS 232-receiving (1..8, 0=disabled)
Response
CMD $44
P0
number of bytes in the RS 232-send buffer (0=empty)
P1 bit 0: State of the CTS line (inverted)