Introduction

Allows interfacing of the motion controller, typically to a graphical video terminal, via RS232/422 serial.

Related arguments

Configuration

By default, the serial channel is programmed as follows:

The definition of the exchanged data is done in the DF1.CFG file residing on the flash-card (it must be in the USER_DIR alias folder).

It is possible to define 245 different files, the index of which must be between 10 and 254.

The units defined in the same file must be homogeneous (you cannot define N21:0 and then F21:100). You can define up to 255 elements per file, so in the case of file N you can have up to 255 words (16bit), in the case of file F on the other hand it will be 255 floats.

Robox control is passive; it only responds to queries received from outside.

You can configure all DF1 parameters via graphical configurator.

It is possible to communicate on serial channels with Robox controls in DF1 mode using CMD=0Fh FNC=A2h, AAh and ABh commands (as if it were SLC500).

NOTE: From RTE 33.18 added function codes A1 (Protected Typed Logical Read with Two Address Fields) and A9 (Protected Typed Logical Write with Two Address Fields).

Alarms

Keywords