Reliance Reliance Cool Muscle Cool Muscle - RS-232 Link Protocol

Transcription

1 Reliance Reliance Cool Muscle Cool Muscle - RS-232 Link Protocol

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3 Cool Muscle - RS-232 Link Protocol The character data sent back by Cool Muscle motors connected together on a daisy chain is a mixture of echoes of Cool Muscle Language (CML) commands sent to the motors, responses to query commands of several different types, motor status messages, error messages and streaming data. CML commands can be sent to the motors in a variety of different formats. The manual section on Cool Muscle Language Dynamic Mode briefly introduces CML syntax. This section goes into more detail about the syntax of CML, the data returned by the motors and the K-parameters which affect this. Character Set The character set of CML is ASCII and all data sent back by Cool Muscle motors is ASCII. Characters are transmitted with 8 data bits, no parity bit, and one stop bit. There is no hardware or software flow control. The baud rate is selected by setting parameter K20.1 for the first, master motor. The K20 setting of other, slave motors is ignored. In the same way the internal baud rate of communication between motors on the daisy chain is set by K65.1. Character Echoes Unless character echo has been disabled, a daisy chain of Cool Muscle motors sends back every ASCII character unchanged as soon as it is received. If a query response, status message, error message or streamed data value is being sent at the time, the character echo will be queued until afterwards. This means that the character echo will never interrupt a message from the motors, but the opposite is not true: a message from the motors may interrupt character echoes at any point, even in the middle of a command. Also the buffer size for character echoes is very small. If this buffer overflows not only will the echo be lost, but it may also corrupt any message from the motors. Any application that uses the data coming back from the motors must disable character echo or it must only send one character at a time to the motors and wait for its echo before sending the next character. Otherwise the application will have to tolerate occasional corruption of data. Character echo is disabled by setting K23.1=8 for the first, master motor. This one setting controls the echoes from all the motors. K23 is bit significant, and the other bits control other features of the motor communication. CML Command Basics A Cool Muscle Language command is a sequence of printable ASCII characters which ends in a comma (,) or a carriage return. A line feed after the carriage return is accepted but otherwise is ignored. The generation of line feeds by Cool Muscle motors is controlled by K70.1. Each CML command is interpreted as soon as the end character has been received, although it might not result in an immediate action or response from the motors. Not every sequence of printable ASCII characters which ends in a comma or a carriage return is a valid CML command. Sequences of characters which do not form a valid command are echoed as described above but are otherwise ignored. Some Implementation Details CML commands can be sent to the motors in any combination of UPPER and lower case and this is 1

4 echoed unchanged, but otherwise the text case will be ignored. Spaces and tab characters can be inserted anywhere and will be echoed unchanged but otherwise ignored. The following three commands are equivalent... P20.1=1234 // compact form P 2 0=12 34 // leading spaces, embedded spaces p20.1 = 1234 // lower case, embedded spaces The character data coming back from the motor contains spaces to make the output more readable but these can be ignored. If K70.1=1 then whenever a carriage return is sent to the motors it is echoed as a carriage return followed by a line feed, and whenever a sequence of messages or responses from the motors contains embedded carriage returns these will also be followed by line feeds. Regardless of the setting of K70.1 a line feed sent to the motors is ignored. It is not echoed. There is a buffer in the motors of approximately 50 characters for assembling each command. If more characters are sent to the motor without a termination character (comma or carriage return) the oldest characters are discarded. When a termination character is eventually received the newest 50 characters will be processed as a possible command. If you do not know whether there are already characters in the buffer a safe approach is to send more than 50 spaces and, optionally, a termination character to clear out the buffer before sending commands. Comment lines may be added between lines of CML. A comment line begins with a slash / and continues to the next carriage return. Line end comments (where spaces, a slash and comment text are added between a CML command and the next carriage return) do not work correctly and must not be used. Inside bank programs and logic banks a slash is used as the arithmetic division operator, so a slash for line end comments would be ambiguous. (String constants are described below). Strings longer than four characters are truncated to the first four characters. If a string is not properly enclosed by matching double quotes it will be automatically closed by the next carriage return (but not by a comma: a string value can legitimately contain a comma). Inside double-quoted strings the text case is preserved. This is the current behaviour of the Cool Muscle command interpreter, but application writers should not rely on features which are a side effect of the way the interpreter operates, such as spaces being ignored in the middle of commands or the buffer size being 50. CML Command Formats, Motor Response Formats There are many different CML commands but these can be grouped into a small number of different command formats, described below. The formats of responses from the motors to these CML commands are also described. The different formats contain some common elements, and we begin with these. Motor Address Element Most CML commands are directed to a particular motor on a daisy chain. The motor address is a number, starting with 1 for the first, master motor and increasing consecutively along the daisy chain to a maximum of 15 motors. To direct a command to one specific motor, add a full stop and the motor number after the register number (in register commands) or at the end of the command but before the terminating comma or carriage return (other commands). A command without a motor address goes to the last previously addressed motor. A motor address can be sent on its own in an otherwise empty command, after which any following commands will go to that motor until a command is received with a different address. 2

5 Register Identifier Element Each motor has a variety of registers. Each type of register is identified by a different letter, for example P for position, S for speed. Each motor has a number of registers of each type. The different registers are identified by the type letter followed by the register number. This basic register identifier can have an optional motor address element appended. For example T1.1 to T8.1 refer to the eight timer registers in motor number 1 and S1 to S15 refer to the fifteen acceleration registers in the last previously addressed motor. Valid register types are:- K K-parameter P Position S Speed A Acceleration T Timer (delay) M Torque (moment) N Centre point (arc motion) R Radius (arc motion) H H-infinity V - Variable String Constants V-variables can be set with constant string values. Strings may be up to four characters long and are contained inside double-quotes, for example "Ain4". Some string values are reserved and configure the V-variables to read or write live data from or to the motor. Reserved strings are:- "Px", "Sx", "Ix", "Ux", "Pe", "Pt", "Ain4", "Dx", "St", "Fx", "Cx" Other strings are free for use. Register Setting Command Formats, K-Parameters and V-Variables Registers generally contain integer number values. To set a register value send the register's identifier followed by an equals sign and an integer value. P3.2=-179 sets value -179 in position register number three of motor number 2, for example, and A5=10 sets value 10 in acceleration register number five of the last previously addressed motor. To read a register's current value send the register's identifier on its own. After the command echo the motor will send back the register's identifier followed by an equals sign and the register's current value. For example sending m5 will get back an echo m5 followed by a query response M5.1=100 indicating that torque register 5 on motor 1 contains value 100 (assuming motor 1 is the last previously addressed motor). Note that register value query responses originated by the motor use UPPER case for the register type and always include the motor address element. If the register number is omitted then register zero is assumed. Register number zero is used only with position, speed, acceleration and torque registers. P0, S0, A0 and M0 are the registers for dynamic motion commands. The dynamic mode position register P0 can be changed incrementally using commands like these:- P0.1+=100 P-=200 K-parameters are identified, set and read in the same way as registers, except that K-parameter values are not always integers. For example in the setting K27.1=0600 each of the four digits corresponds to one of the four hardware inputs. The behaviour of K-parameter settings is slightly different too. Other register settings are volatile, and must be saved to EEPROM with an explicit save command, but K-parameter settings are automatically saved immediately. V-variables are identified, set and read in the same way as registers, except that their values can be 3

6 set to short strings as well as integers. The short strings are enclosed in double-quotes both for setting and when reading. Register commands (including K-parameters and V-variables) are used only outside bank programs and logic banks, and may have unexpected results if they are placed inside bank programs or logic banks. CML Program Mode A different set of CML commands is valid inside the definition of a bank program or logic bank from the ones valid outside. In some cases the same sequence of characters is interpreted as two different commands, for example P1 inside a bank program or logic bank is a motion command but outside it is a query for the current value of a position register. The following command formats are used for program mode commands. Register Invocation Command Formats Inside bank programs and logic banks a command which contains only a register identifier element is used to activate the corresponding setting. Command S2.3 sets the speed for the next motion command to be performed by motor three, and P5.3 commands motor three to move to the absolute position in register P5 of motor three. T1.1 waits for the time set in register T1.1. Position commands can have a modifier appended which makes the motion relative to the current position, so P5.3+ will move motor three from the current position by the amount in register P5 of motor 3. Similarly P5.3- will move by the same amount but in the opposite direction. If a series of position commands for the same motor is separated with commas then the motions will be performed consecutively, but without stopping. If they are separated by carriage returns the motor will decelerate and stop between each command. Adding a semicolon modifier before the carriage return removes these stops and gives the same behaviour as with commas. In addition to these register invocations there are two modified versions of the P-register command, where P is changed to Y, Q or Z. For example Y2.3 is the same as P2.3 but the program continues without waiting for the motion to complete. Q2.3 is the same as P2.3 but the motion is performed with push mode torque control. Z2.3 combines these two modifications. There is no immediate response back from the motors for a register invocation. V-variables can also be invoked inside bank programs and logic banks. The motor will send back the current value of a V-variable. If the V-variable has been set with a string constant that constant will be returned without its enclosing double quotes, even for reserved strings. If the V-variable has a numeric value that will be returned. Bank Program Structure Commands A bank program or logic bank definition begins with a program start command. The format is a single character B or L followed by a program number 1-15 and a motor address and carriage return. The end of a program is marked by the command END followed by a motor address. Programs should be defined in numerical order, starting with B1 and with no gaps in the series. All definitions should be preceded by commands B100 and L100 (each with a motor address) to reset the bank storage and followed by a save command ($). Inside a program loops can be defined. A loop starts with X followed by a loop count and ends with the same command with a minus sign (-) appended. Loops can be nested. A loop count of zero (X0) 4

7 starts an infinite loop. B100.1 B X X END.1 $.1 Bank Program Mathematics Commands Simple arithmetic and logical calculations can be performed in a bank program. A calculation command is a variable identifier followed by an equals sign followed by an expression. Standard expressions take the form number-operator-number where the numbers are register identifiers (constants and K-parameters cannot be used) and the operators are fixed single or two character sequences. Example: V3.1=P2.1+V4.2. Valid operators are + - * / &&!! ==!= > >= < <= In addition to arithmetic and logical expressions, function calls for common functions can be used. Their format is the character U followed by a function number (1-6) followed by a single register or variable invocation enclosed in parentheses. V3.1=U1(V1.1) sets variable 3 to the sine of the value of variable 1. U1 is the sin( ) function. So that all values are integers the units of the angle are 0.01 degree and the return value is scaled by times. Bank Program Execution Commands The commands to start a bank program or logic bank, to call one program from within another program, or to jump from one program to another all have similar formats. They begin with a single character [, C, or J for bank programs or [L, CL or JL for logic banks followed by a bank number 1-15 and an optional motor address. When the outermost program (started with [) completes the motor sends back End! followed by a carriage return (there is no motor address element). Output Signal Control Commands These commands begin with a single character O or F followed by the output signal number (1 or 2) followed by an optional motor address. O2.3 asserts output 2 on motor 3. Input Status Command An exception to the rule that a comma marks the end of a command is the Input Status command which includes two embedded commas. For example I2.1,C1.1,C2.1 (call bank program 1 or 2 depending on the state of input 2). Query Commands Queries begin with a question mark? followed by a register type letter (V is allowed, but not K) or a two-digit number, a three digit number, or the number The query response from the motor is highly variable and is described in the manual section on CML Queries. 5

8 Other CML Commands The remaining CML commands have a simple format. They begin with a fixed character or pair of characters optionally followed by a motor address. In general there is no immediate response from the motors, except for the $ command to which the response is Saved followed by a motor address and carriage return. Examples are: 2.1 set current position as origin for motor 1, ( - enable last previously addressed motor. Other Motor Message Formats Some messages sent back by the motors are not direct responses to CML commands. Motor Status Messages Motor status messages are sent by Cool Muscle motors to report events such as a motor reaching its target position. The format begins with the fixed characters Ux followed by a motor address followed by an equals sign, a number and a carriage return. The number is bit significant with each bit corresponding to a different item. Examples: Ux.1=8 (motor 1 has reached target position) Ux.2=128 (thermal alarm on motor 2). In addition if merge event reporting is enabled a motor will also send Mx followed by a motor address each time it reaches an intermediate point during merge motion. Which status events are reported depends on the setting of K23. Error Messages Cool Muscle motors also send plain text error messages, for example if inconsistent parameters are set for coordinated motion (radius and end point may be inconsistent). These end with a carriage return. Data Streaming If data streaming is enabled (set by K66 and K67) then each time a data value is sent back by the motor it is sent as an integer numeric value followed by a motor address followed by a carriage return. K-Parameters These K-parameters relate to CML and the character data returned from Cool Muscle on RS-232 links. K20 Baud Rate (Master Motor) This parameter sets the baud rate for serial communications with the master Cool Muscle motor of a daisy chain. It also selects whether the protocol is CML over RS232 or MODBUS/RTU. K20 = Value RS232 CML MODBUS/RTU 0 (default) Baud Rate (kbps) 6

9 K23 Polling/Event Driven Mode This parameter selects the event types (command responses) that the motor sends back to the controller. K23 = Value Event Type 0 Polling 1 Running status, Overflow, Overload, In position, Circle function, Pushing Torque 2 Input status changes (represented as Hex value) 4 Output status changes 8 Disable echo 16 Enable warnings and messages 32 Merge event Mx These values are bit-significant and can be combined by addition. For example K23=7 will switch on motor, input and output status change messages (7 = ). K23=0 Polling In this mode no event messages are sent by the motor. The control can still poll the motor using query commands. K23=1 Motor Status Changes On each change of status the motor sends back a status message. The message format is:- Ux.<motor>=<status> <motor> is the motor number 1-15, and <status> is one of the values:- Status Description 0 Motor running (in motion) 1 Software overrun protection limit exceeded (K58, K59) 2 Regenerative voltage limit exceeded (K72) 4 Overload condition (current limit exceeded) 8 In position (motion complete) 16 Motor disabled (motor free) 32 Pushmode torque limit reached (K60) 40 Pushmode push complete (40 = ) 64 Power module over current 128 Temperature limit exceeded (K71) 256 Pushmode timeout position not reached (K61) 512 Emergency stop performed Example: Ux.3=128 temperature limit exceeded in motor 3. 7

10 K23=2 Input Status Changes On each change to the enabled input signals the motor sends back a status message. The message format is:- IN.<motor>=0<hexchar> <motor> is the motor number and <hexchar> (0-9, A-F) is a hexadecimal sum of bit significant values (input 1 set =1, input 2 set = 2, input 3 set = 4, input 4 set =8). Example: IN.2=0C inputs 3 and 4 set on motor 2 (0C hex = 12 = 4 + 8). K23=4 Output Status Changes On each change to the enabled output signals the motor sends back a status message. The message format is:- OUT<1 2>.<motor>=<0 1> <1 2> is 1 for output 1 and 2 for output 2. <motor> is the motor number and <0 1> is 1 when the output is set and 0 when it is unset. Example: OUT2.1=1 output 2 set on motor 1. K23=8 Disable Echo By default every command sent to the motor is echoed back in response. Setting K23=8 switches off command echo. Status change messages, error and warning messages and the answers to queries are not affected by this setting. K23=16 Enable Warnings and Messages When this value is set the motor will send confirmation and error messages. [Confirmation Messages] Message [End of Bank] Change Baud Rate?? XXX kbps (Y/N) Description Program Bank input is finished properly. Confirmation message when the baud rate is changed by K20 [Error message] Message Out Of Range!! Syntax error!! Too many steps!! XX is not allowed in bank XX can not be followed by DD Program Bank does not exist!! Ladder Bank does not exist!! CW Limit!! CCW Limit!! Description K Parameter value is out of range Program Bank syntax error Program Bank steps exceed max. numbers. XX command can not be defined. XX command can not be defined before DD. Program Bank does not exist. Ladder Logic Bank does not exist. CW limit sensor is on CCW limit sensor is on K23=32 Merge Event (Mx) When this value is set, in addition to status messages, the motor will send the sequence Mx as it passes through each merge point. 8

11 K65 Slave Motor Baud rate This parameter sets the communication baud rate for the slave motors on a daisy chain cable or when using MODBUS. K65 = Value Protocol Unit 0:38.4, 1:9.6, 2:19.2, 3:57.6, Serial Communication Kbits 4:76.8, 5:129, 6:173, 7:515 (set master motor only) 10:38.4, 11:9.6, 12:19.2, 13:57.6, 14:76.8, 15:129, 16:173, 17:515 MODBUS (set master motor only) Kbits K66 Data Streaming K66 switches on RS232 data streaming back from the motor to the controller. K66 = Value Data stream 0 (default) None 1 Send back speed target 2 Send back real position 3 Send back real speed 4 Send back real current Iq 5 Position real 6 Velocity real K67 Data Streaming Sample Time This parameter sets the time interval at which streamed data is sent by the motor. Min Max Default Unit msec K70 Send Carriage Return When the motor sends data to the PC or controller, K70 determines whether each line ends with a carriage return, or a carriage return and a line feed. K70 = value State 0 No line feed after carriage return 1 Line feed after carriage return More specifically if K70.1=1 (master motor) then whenever a carriage return is sent to the motors it is echoed as a carriage return followed by a line feed, and whenever a sequence of messages or responses from the motors contains embedded carriage returns these will also be followed by line feeds. Regardless of the setting of K70.1 a line feed sent to the motors is ignored. It is not echoed. The K70 setting of slave motors has no effect. 9