C RS485 serial interface
242 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
C.3 Commands/syntax of the RS485 interface
Control of the motor controller via RS 485 takes place with the same objects as with RS232. Only the
syntax of the commands to read/write the objects is expanded in comparison to the RS232.
Syntax:
Xtnn:HH...HH:CC
Brief description
Significance
XT Fixed c onstants
nn Node number, identical to the CANopen node number (setting via DIL switch)
HH...HH Data (RS232 command syntax)
CC Checksum
Tab. C.2 Command syntax RS485
– The reply sends the following characters to the first 5 positions:
“XRnn:” with nn = node number of the device.
– All devic es react to the node number 00 as “Broadcast”. In this way, each devic e can be addressed
without knowing the node number.
– The commands of type “=” “?”, etc. support an optional checksum. This chec ksum is forme d
without the first 5 characters.
At the byte level, all characters are added up byte-by-byte to a UINT8 number without taking the
overtravel into acc ount.
The c hec ksum c omprises the entire command without RS485 identifier and without checksum.
Example:
For “XT07:=607A00:000A0000:80”
the chec ksum “80” is created over
“=607A00:000A0000:”.
– The boot-up message of the boot loader and the boot-up message of the firmware are sent only
over RS232 mode.
Ex ample “Profile position mode” via RS485
If the motor controller is operated via the RS485 interface, control, just as operation, can take place via
the RS232 interface Profile position mode, page 237. If required, the node number is simply written
in front of the command. The node number is set via the DIL switches.
Command: XT07:=607A00:000A0000 Target position 10 revolutions send to node 7
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