2 Table of Contents
Appendix C RS485 (DSI) Protocol
Network Wiring. . . . . . . . . . . . . . . . . . . . . C-1
Parameter Configuration . . . . . . . . . . . . . . C-3
Supported Modbus Function Codes . . . . . C-3
Writing (06) Logic Command Data. . . . . . C-4
Writing (06) Reference . . . . . . . . . . . . . . . C-5
Reading (03) Logic Status Data. . . . . . . . . C-6
Reading (03) Feedback . . . . . . . . . . . . . . . C-7
Reading (03) Drive Error Codes . . . . . . . . C-7
Reading (03) and Writing (06) Drive
Parameters . . . . . . . . . . . . . . . . . . . . . . . C-8
Additional Information . . . . . . . . . . . . . . . C-8
Appendix D RJ45 DSI Splitter Cable
Connectivity Guidelines . . . . . . . . . . . . . . D-1
DSI Cable Accessories . . . . . . . . . . . . . . . D-2
Connecting One Temporary Peripheral . . . D-3
Connecting One Temporary Peripheral and
One Permanent Peripheral . . . . . . . . . . . D-3
Connecting Two Permanent Peripherals . . D-4
Connecting an RS-485 Network . . . . . . . . D-4
Appendix E Velocity StepLogic™, Basic Logic and Timer/Counter Functions
Velocity StepLogic Using Timed Steps. . . E-2
Velocity StepLogic Using Basic Logic
Functions . . . . . . . . . . . . . . . . . . . . . . . . E-3
Timer Function . . . . . . . . . . . . . . . . . . . . . E-4
Counter Function. . . . . . . . . . . . . . . . . . . . E-6
Appendix F Encoder Usage and Position StepLogic Application
Encoder Usage. . . . . . . . . . . . . . . . . . . . . . F-1
Wiring Notes . . . . . . . . . . . . . . . . . . . . . . . F-2
Positioning Overview . . . . . . . . . . . . . . . . F-2
Common Guidelines for All Applications. F-3
Positioning Operation . . . . . . . . . . . . . . . . F-5
Homing Routine . . . . . . . . . . . . . . . . . . . . F-8
Encoder and Position Feedback. . . . . . . . . F-9
Use Over Communications . . . . . . . . . . . F-10
Setup Notes . . . . . . . . . . . . . . . . . . . . . . . F-11
Appendix G PID Set Up
PID Loop . . . . . . . . . . . . . . . . . . . . . . . . . . G-1
PID Reference and Feedback . . . . . . . . . . G-4
Analog PID Reference Signals . . . . . . . . . G-5
Appendix H Plate Drive Installation Instructions
Introduction . . . . . . . . . . . . . . . . . . . . . . . . H-1
General Requirements . . . . . . . . . . . . . . . . H-1
Heatsink Thermal Capacity . . . . . . . . . . . . H-2
Heatsink Surface and Flatness Requirements .
H-3
Mounting Dimensions and Requirements . H-4
Verification . . . . . . . . . . . . . . . . . . . . . . . . H-4
Index
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