WEGTP Manual
Contents
1. scccssssssscssssscssssscscsesessscscsesesesssesesssesccsccescscscccscccscccscccscccsccsscses 9 P00653 SERIAL CONFIGURATION 1 RS232 s sssesssesesesssssssssssssnsesnsesnsssnsesnsescsesnssscsssnseeeseenes 10 P00659 SERIAL CONFIGURATION 2 RS485 02e ava ea eee ennan nn anan anana nn n asas ananasas ananasas ananasas asas asas asas ananasas 10 P00654 SELECT SERIAL PROTOCOL 1 RS232 000 a aaa eee ennan nannan nana anana nannan nannan anan asas asas asas ananasas 10 P00660 SELECT SERIAL PROTOCOL 2 RS485 L m mmmaa aa enan annan n nannan annan nn annan anan asas asas ananasas 10 P0662 ACTION FOR COMMUNICATION ERROR kaa ee eee a enan nannan aa anan aa aa ananasas ananasas ananasas asas asas asas ananasas 10 P00663 WATCHDOG SERIAL m mamaa nn nn nn nn nn nn nn nn nn nn nn n n n n n n nn nana anan asas asas asas asas asas asas asas ananasas 11 P00664 SAVE PARAMETERS IN NON VOLATILE MEMORY sssssssssesssesssesesesesesnsesnssenseees 11 P00667 SAVE ON MARKERG sssesssssesssssesssssssssesssesssssnsnsnscsnsescsnsnscscsnscscscsnsescsescsescsesssesssesssenes 11 A WEGTP PROTOCOL i ii ti ri ti i ii as a i i ii i i i a a i 13 4 1 ADDRESSING IN WEGTP PROTOCOL kenn kenn nn n nn nn nn nn nn nn nn nn nn n ananasas ananasas ananasas asas asas ananasas asas 13 42 PROTOCOL FIELDS iii diswa atis kana wi pa au ai w ia wo eki ak l kk kus sk dio M vu sawn i ad a ss au ON sh i i i i2. after the number SCA06 4 mej Introduction to Serial Communication 1 INTRODUCTION TO SERIAL COMMUNICATION In a serial interface the data bits are sent sequentially through a communication channel or bus Several technologies use the serial communication for data transfer including the RS232 and RS485 interfaces The directions that specify the RS232 and RS485 standards however do neither specify the character format nor its sequence for the data transmission and reception Therefore besides the interface it is also necessary to identify the protocol used for the communication Among the several existent protocols one used a lot in the industry is the WEGTP protocol In the sequence the characteristics of the RS232 and RS485 serial interfaces available for the product will be presented as well as the protocols for the use of those interfaces SCA06 5 eq Description of the Interfaces 2 DESCRIPTION OF THE INTERFACES To enable the serial communication on the servodrive SCAO6 you must use the communication and expansion module ECO1 described below Information about the installation of this module can be found in the guide that comes with the accessory 2 1 RS232 AND RS485 ECO1 COMMUNICATION AND EXPANSION MODULE WEG Item 11330271 Composed by the communication module ECO1 figure beside and a mounting guide Interface galvanically insulated and with differential signal providing greater robustnes
3. sas kasisks ki aasnoe ns s i s is s aniii caccaees e akont s a is nnana nnmnnn nnmnnn anko ss 6 2 37 ROAD i Ei E A ok pa kg kwe wa tee G ka ouka Ola k ke ki ak Fa Ren SA KAR S ake n a kak SER kon tn kk G ka A eka 7 2 3 1 Indi GATIONS ki ki a E E n a 5 a EEE asi au a asas i au asia a Ek KR KB W AA KE 7 2 3 2 Characteristics of the RS485 interface cccsssssssssseeesesesssseseseeeeenesnseseueeeeeaeonsgsesesuanaeanansaees 7 2 3 3 Connector Pin ASSIGNMENT ve ky skaks isk sak ses an ya di kongo os sa sias aisiais i sak 7 2 3 4 Termination FESISTOF es kirrari ak ka aa ikas ak ak ak al koni ak akRa sa on kane ki SAN DA nnmnnn nananana nanmanna nananana REAL OO RD RAN RAN Dan DE DAN 8 2 3 5 Connection to RS485 netwWoFrk rerrreresesesesssssssssssosossosossososasonossoooososssosanonososososasanonooonnsonasanannnn 8 3 PROGRAMMING sicisiessiscstacasscadescdadcaacssacasanadansanniaanabeuahsnaiendsasadseadidasauadavadauasavasaniaantaasen 9 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION ccccceccceeeeeeeeeeeseeeeeeeeeseseeeeeeeseeeseeeeeeseeeeeeeeeeees 9 P00650 SERVO DRIVE ADDRESS IN THE SERIAL COMMUNICATION 1 RS232 9 P00656 SERVO DRIVE ADDRESS IN THE SERIAL COMMUNICATION 2 RS485 9 P00652 BIT RATE SERIAL 1 RS232 scsssssssssssssssssssssssssssssccececeesscceeeeescccccceeeeccecseseseceseseeesesesesess 9 P00658 BIT RATE SERIAL 2 RS485
4. 47 3276 4000 Fax 55 47 3276 4020 Sao Paulo SP Brazil Phone 55 11 5053 2300 Fax 55 11 5052 4212 automacao weg net www weg net
5. Programming The followings events are considered communication errors Serial Communication RS232 RS485 Alarm A00128 Fault FOOO28 timeout of the serial interface P00663 WATCHDOG SERIAL Range 0 0 to 999 0s Default 0 0 Properties RW Description It allows programming a time for the detection of the communication error via serial interface 1 In case the servo drive does not receive valid telegrams for a period longer than that adjusted in this parameter it will be assumed a communication error occurred the alarm A128 will be displayed on the HMI or fault F228 depending on the settings on P0313 and the action programmed on P0313 will be executed After energized the servo drive will begin counting this time from the first valid telegram received The value 0 0 disables this function P00664 SAVE PARAMETERS IN NON VOLATILE MEMORY Range O Parameter is not saved in non volatile memory Default 1 1 Parameter is saved in non volatile memory Properties RW Description It allows selecting if the writing of parameters via serial must save the content of the parameters in the non volatile memory EEPROM or not When using the Modbus protocol it is only this parameter that determines if the parameters written via serial will be saved or not in the non volatile memory However when using the WEGTP protocol it must be observed that the information about saving or not the parameter in the EEPROM is contained in t
6. RS232 XA121 Pin Function 2 RX 232 232 RTS O 28288 Ground 2 3 RS485 2 3 1 Indications O led LA122 indicates lights when transmitting data through the communication RS485 2 3 2 Characteristics of the RS485 interface The Interface follows the standard EIA TIA 485 lt can operate as a slave of the WEGTP network t allows communication using rates from 9600 to 57600 kbit s Interface galvanically insulated and with differential signal providing greater robustness against electromagnetic interference It allows the connection of up to 32 devices to the same segment A larger number of devices can be connected through repeaters Maximum length of the bus of 1000 meters 2 3 3 Connector Pin Assignment The connection for the RS485 interface is available through connector XC1 using the following pin assignment Table 2 4 Connector pin assignment for RS485 XA121 Function 232 RTS An A 1 Do not connect reserved pins 2 The maximum number of devices that can be connected to the network also depends on the used protocol SCA06 7 E Description of the Interfaces Table 2 5 Connector pin assignment for RS485 XA123 Pin Function 2 SN 6 Peseved L TME 8 Adaa 9 Bata 2 3 4 Termination resistor For each segment of the RS485 network it is necessary to enable a termination resistor at the end of the main bus The accessory ECO1 fea
7. via serial Because when trying to write in parameter P00667 you will be writing in Word marker P13667 SCA06 12 eg WEGTP Protocol 4 WEGTP PROTOCOL WEGTP was developed in order to enable communication with PLCs of the TP line But due to its flexibility and ease of use it has been used in other applications being often implemented on PLCs and other systems for control and monitoring of WEG equipment In these documents are defined the message formats used by the elements that are part of WEGTP network services or functions which can be accessed via network and also how these elements exchange data in the network 4 1 ADDRESSING IN WEGTP PROTOCOL For WEGTP protocol during the telegram transmission the address selected in the address parameter of the servo drive in the serial communication is represented by an ASCII character according to the following table Table 4 1 WEGTP Address for the WEGTP protocol LO 040 t B 060 A A pos pi G po oaa 18 R 062 Cc 3 19 S 3 D om 2 T 0464 E 045 a pou os 6 F 046 2 v o5 7 G or 28 w r 8 H os 4 x 068 0 049 25 Y 069 10 J3 OWA 26 z po Mo K oB 27 pr 5 2 L oec 23 oc A 14 N Ox4E 30 Ox5E 15 O oF a pop on Addresses to perform special tasks NIXIXIS a alo Address O any servo drive is queried regardless o
8. 0 64 d AS 05 ENQ Enquiry 37 25 69 45 E 101 65 e 6 06 ACK Acknowledgment 38 26 amp 7O 46 F 102 66 a 7 07 BEL Bell 39 27 d TI 47 G 103 67 g 8 08 BS Backspace 40 28 72 48 H 104 68 h 9 09 HT Horizontal Tab 41 29 73 49 I 105 69 2 0 OA LF Line Feed 42 2A kai 74 4A J 106 6A j 1 OB VT Vertical Tab 43 2B 75 4B K 107 6B k 2 OC FF Form Feed 44 2C i 76 4C L 108 6C iG 3 OD CR Carriage Return 45 2D 77 4D M 109 6D m 4 OF 50 Shift Out 46 2E 78 4E N 110 6E n 5 OF SI Shift In 47 2F if 79 4F O TLI 6F o 6 LO DLE Data Link Escape 48 30 0 80 50 P 112 70 p 7 LI BEL Device Control 1 49 31 1 81 51 Q 4 13 71 q 8 12 DC2 Device Control 2 50 32 2 82 52 R 114 72 B 8 L3 DC3 Device Control 3 si 33 3 83 53 S 115 73 5 20 L4 DC4 Device Control 4 52 34 4 84 54 T 116 74 21 L5 NAK Negative Acknowledgement 53 35 k 85 55 U 117 75 u 22 L6 SYN Synchronous Idle 54 36 6 86 56 V 118 76 v 23 L7 ETB End of Trans Block 99 37 7 87 57 W 119 77 w 24 18 CAN Cancel 56 38 8 88 58 X 120 78 x 25 L9 EM End of Medium 57 39 9 89 59 Y 121 79 y 26 LA SUB Substitute 58 3A 90 5A Z 122 7A Z 27 LB ESC Escape 59 3B 91 5B 123 7B 28 LC FS File Separator 60 3C Es 92 5C E 124 TC 29 LD GS Group Separator 61 3D 93 5D 125 7D 30 LE RS Record Separator 62 3E 2 94 5E a 126 7E 31 LF US Unit Separator 63 3F 2 95 5F _ 127 TF DEL SCA06 18 WEG Equipamentos El tricos S A Jaragua do Sul SC Brazil Phone 55
9. Motors I Automation I Energy I Transmission 8 Distribution Coatings WEGTP SCAOG User s Manual E KANN el TT E WEGTP User s Manual Series SCAOG Language English Document Number 10001626001 00 Publication Date 12 2012 eg Contents CONTENTS CONTENTS a ate eae A pasate dit cc i ook oa sh a au eas an cae i ra n a a a e a a 3 ABOUT THIS MANUAL La sasas asi is iii i i i i i i i i nin 4 ABBREVIATIONS AND DEFINITIONS aaaaaaaaanaaa nana anna ananasas aa ananasas saaa aaa saaa aaa aa aaa 4 NUMERICAL REPRESENTATION c cccsssssssssssssssssssssscscsssncscecccsccsccecececccceecceccscseeeeesscescceseseceeesesesssess 4 1 INTRODUCTION TO SERIAL COMMUNICATION ccccccccssseccssseecssseeesseeensseeenseeeenes 5 2 DESCRIPTION OF THE INTERFACES ccccccsesccesccseecneseneeeeeeeneeenesenaeeeneeenesecaseenes 6 2 1 RS232 AND RS485 ECO1 COMMUNICATION AND EXPANSION MODULE 6 2 2 AS232 AATA E T A hash Es alia a saika Ed da aa Aaaa A antes can honda Sa reco nda sina indo 6 2 2 1 Indi GATIONS as ki ki ki n n a ak n ni n sa si a siai a A m a i a Ei EM kk E l KR kn KA KA 6 2 2 2 Connection to Network RS232 eeeerssassssesesssssssssasosoosoosssssasososooososssasosononosonososasananononnsnnasanannnn 6 2 2 3 Connecting cables in RS232 sects ssisscccscescetcsseasercestececsdeacwercessaderssseawes tension ek a a aks sasas saaa siais 6 2 2 4 Connector Pin Assignment
10. elegram Size of 1 byte 0x00 OxFF hexadecimal DMW Data Master Write Four writing bytes that the master sends to the slave and the first two represent the parameter and or the basic variable and the last two the value to be written in this parameter PH Byte representing the high part of the parameter PLo Byte representing the low part of the parameter VHi Byte representing the high part of the value to be written VLo Byte representing the low part of the value to be written Example Write 2000 rpm on the speed reference P0121 gt PHI 0x00 hexadecimal PLo 0x79 hexadecimal VHI 0x07 hexadecimal VLo OxDO hexadecimal DMR Data Master Read Two reading bytes that the master sends to the slave which represent the parameter to be read PHi Byte representing the high part of the parameter PLo Byte representing the low part of the parameter Example Read the value contained in the parameter of the status of the Dis POOO8 gt PHi 0x00 hexadecimal PLo Ox08 hexadecimal NUM Byte that represents the number of DMW or DMR to be transmitted according to the telegram COD Range of Values 1 6 decimal DSV Data Slave Value Two bytes that the slave sends to the master after a request of a reading telegram from the master representing the value contained in the requested parameter VHi Byte representing the high part of the value to be written VLo Byte representing the low part of
11. f its address There must be only one servo drive connected to the network point to point to prevent any short circuits in the interface lines Address 31 a command can be transmitted simultaneously to all the network servo drives without recognition of acceptance 4 2 PROTOCOL FIELDS STX Byte of Start of Transmission Value 0x02 hexadecimal 2 decimal ETX Byte of End of Transmission Value 0x03 hexadecimal 3 decimal ADR Byte of the servo drive address in the network Range of Values 0x41 hexadecimal 65 decimal A ASCII Ox5E hexadecimal 94 decimal ASCII gt Represent the values from 1 30 programmed in the parameter of the servo drive address Special 1 0x40 hexadecimal 64 decimal ASCII gt Allows the writing or reading of all the devices connected to the network Special 2 0x5F hexadecimal 95 decimal _ ASCII gt Allows the writing on all the devices connected to the network without answer of acceptance or refusal COD Byte of the Telegram Code Reading Ox8C hexadecimal 60 decimal lt ASCIl Writing Ox3D hexadecimal 61 decimal ASCII without saving the parameter in the EEPROM Writing Ox3E hexadecimal 62 decimal gt ASCII saving the parameter in the EEPROM SCA06 13 eg WEGTP Protocol BCC Longitudinal Checksum Byte of the telegram i e OR EXCLUSIVE among all bytes of the t
12. he servo drive is programmed with the address 1 then the field ADR is set for 41 Example 1 reading of two parameters of the servo drive Servomotor speed P0002 assuming POOO2 at 1200rpm 0x04B0 Status of the servo drive POOO6 assuming P0006 at 1 0x0001 Master 0x02 0x41 Ox3C 0x02 0x00 0x02 0x00 0x06 0x03 Ox7A STX ADR COD NUM DMR P0002 DMR P0006 ETX BCC Par metro Par metro Slave Ox41 0x04 OxBO 0x00 0x01 OxF4 ADR DSV 1200 DSV 1 BCC Valor Valor Example 2 change the servo drive to ladder mode SCA06 15 mej WEGTP Protocol For this it is necessary to put the parameter P0202 in 4 Writing telegram saving on the EEPROM P0202 4 202 in decimal OXOOCA 4 in decimal 0x0004 Master 0x02 0x41 Ox3E 0x01 0x00 OxCA 0x00 0x04 OxO3 OxB1 STX ADR COD NUM DMW P0202 4 ETX BCC Par metro Valor Slave 0x41 0x06 ADR ACK SCA06 16 meg FAULTS AND ALARMS RELATED TO WEGTP COMMUNICATION 5 FAULTS AND ALARMS RELATED TO WEGTP COMMUNICATION A00128 F00028 TIMEOUT AT THE TELEGRAM RECEPTION n Description Alarm that indicates serial communication fault It indicates the equipment stopped receiving valid serial telegrams for a period longer than that set on POO663 Actuation The paramete
13. he telegram code byte In order to save them in non volatile memory via WEGTP it is necessary that these two pieces of information the telegram code byte and the parameter P00664 be true NOTE Vv This type of memory features a limited number of records 100 000 times Depending on the application this limit can be exceeded if some parameters are written cyclically via serial speed torque reference etc In these cases it may be desired that during the operation of the servo drive the writing via serial does not save the content of the parameters in non volatile memory so as not to exceed the number of writings on the servo drive NOTE D This parameter does not apply when writing is performed using the USB interface P00667 SAVE ON MARKERS Range O Reads and writes normally the content on the corresponding parameter Default O 1 Reads and writes content in volatile WORD markers from the MW13000 Properties RW Description Property verified when parameter is written and read via serial It selects whether the content to be written read must be saved on parameter or in volatile WORD marker NOTE v If this parameter POO667 1 when writing in parameter POO105 30 via serial the content of the parameter will be stored in the Word marker 13105 Initial MW Even number gt 13000 105 Therefore MW13105 30 SCA06 11 eq Programming Note Once P00667 1 it cannot be changed
14. i i MO A 13 4 3 TELEGRAM FORMAT 20000 eeea ea anan aaa ee aa nana ananasas anas anna aaa aa saaa aaa aa saaa aa aaa a aaa a aaa aaa 14 4 3 1 Reading tele Qram a a 2 14 4 3 2 Writing telegram 000202200a05asoascasassosassase aaasonsicansasadadasanao sa asas saaa a ias aaa sa aaa asas 15 4 4 EXAMPLE OF TELEGRAMS USING THE WEGTP PROTOCQOL ava eee 15 5 FAULTS AND ALARMS RELATED TO WEGTP COMMUNICATION 17 A00128 F00028 TIMEOUT AT THE TELEGRAM RECEPTION cccccccccccececececesecesecesesesesesesesuseseensnes 17 li APPENDICES iii ii oi titit fiti fw ti ati ko ti dp 18 APPENDIX A ASCII TABLE cccssssccceceeececcssssseseeueeseoesnsnseueeueeaeansnscseeueuseaeansaeeseeeenauanagseeseeeanauansgsesees 18 SCA06 3 mej About this Manual ABOUT THIS MANUAL This manual supplies the necessary information for the operation of the SCAO6 servodrive using the RS232 and RS485 serial interfaces This manual must be used together with the SCAO6 user manual ABBREVIATIONS AND DEFINITIONS ASCII American Standard Code for Information Interchange CRC Cycling Redundancy Check EIA Electronic Industries Alliance TIA Telecommunications Industry Association RTU Remote Terminal Unit NUMERICAL REPRESENTATION Decimal numbers are represented by means of digits without suffix Hexadecimal numbers are represented with the letter h
15. n It allows programming the used address for serial communication of the equipment It is necessary that each device on the network have a different address from one another The valid addresses for this parameter depend on the protocol programmed on the servo drive P00654 PO0660 1 WEGTP Valid addresses 1 to 30 P00654 P00660 2 Modbus RTU gt Valid addresses 1 to 247 P00652 BIT RATE SERIAL 1 RS232 P00658 BIT RATE SERIAL 2 RS485 Range 0 4800 bits s Default 1 1 9600 bits s 2 14400 bits s 3 19200 bits s 4 24000 bits s 5 28800 bits s 6 33600 bits s 7 38400 bits s 8 48200 bits s 9 48000 bits s 10 52800 bits s 11 57600 bits s Properties RW AC Description It allows programming the desired value for the baud rate of the serial interface in bits per second This rate must be the same for all the devices connected to the network SCA06 9 E Programming P00653 SERIAL CONFIGURATION 1 RS232 P00659 SERIAL CONFIGURATION 2 RS485 Range O 8 data bits no parity 1 stop bit Default 3 1 8 data bits parity even 1 stop bit 2 8 data bits parity odd 1 stop bit 3 8 data bits no parity 2 stop bits 4 8 data bits parity even 2 stop bits 5 8 data bits parity odd 2 stop bits 6 7 data bits no parity 1 stop bit 7 7 data bits parity even 1 stop bit 8 7 data bits parity odd 1 stop bit 9 7 data bits no parity 2 stop bits 10 7 data bits pa
16. r P00663 allows setting a time within which the servo drive must receive at least one valid telegram via serial RS485 interface with correct address and error checking field otherwise it will be considered that there was a problem in serial communication The time starts to be counted after receiving the first valid telegram This function can be used for any serial protocol supported by the servo drive After identifying the timeout in the serial communication it will be signaled through the HMI the alarm message A00128 or fault FOOO28 depending on the setting on P00662 For alarms in case the communication is restored the alarm indication will be removed from the HMI Possible Causes Correction Check network installation broken cable or fault poor contact on the connections with the network grounding Ensure the master always sends telegrams to the equipment in a time shorter than that set on POO663 Disable this function on P00663 SCA06 17 Len Appendices l APPENDICES APPENDIX A ASCII TABLE Table I 1 ASCII Characters Dec Hex Chr Dec Hex Chr Dec Hex Chr Dec Hex Chr 0 00 NUL Null char 32 20 Sp 64 40 96 60 1 01 SOH Start of Header 33 21 65 41 A 97 61 a 2 02 STX Start of Text 34 22 ki 66 42 B 98 62 b 3 03 ETX End of Text 35 23 67 43 ji 99 63 e 4 04 EOT End of Transmission 36 24 68 44 D 10
17. rity even 2 stop bits 11 7 data bits parity odd 2 stop bits Properties RW AC Description It allows the configuration of the number of data bits parity and stop bits in the bytes of the serial interface This configuration must be the same for all the devices connected to the network P00654 SELECT SERIAL PROTOCOL 1 RS232 P00660 SELECT SERIAL PROTOCOL 2 RS485 Range 1 WEGTP Default 1 2 Modbus RTU Properties RW Description It allows selecting the desired protocol for the serial interface The detailed description of the protocol is presented in item 4 of this manual P0662 ACTION FOR COMMUNICATION ERROR Range 0 Cause Alarm Default O 1 Cause Fault 2 Cause alarm and execute STOP 3 Cause alarm and disable drive Properties CFG Description This parameter allows selecting which action must be executed by the equipment in case it is controlled via network and a communication error is detected Table 3 1 Options for parameter PO662 Option Description n 0 Cause Alarm It just indicates alarm 1 Cause Fault Instead of alarm a communication error causes a fault on the equipment and it is necessary to reset the faults so as to return to normal operation 2 Execute STOP The alarm will be indicated together with the execution of the STOP command It is necessary to reset the faults or disable the drive for the servo to exit this condition disable command SCA06 10 E
18. s against electromagnetic interference RS232 and RS485 signals are independent channels and can be used simultaneously 2 2 RS232 2 2 1 Indications O led LA121 indicates lights when transmitting data through the communication RS232 2 2 2 Connection to Network RS232 RX and TX signals of the servo drive must be connected respectively to the TX and RX of the master besides the connection of the reference signal GND The interface RS232 is very susceptible to interference For this reason the wire used for communication must be as short as possible always shorter than 10 meters and must be routed separately from the power wiring that feeds the servo drive and the motor 2 2 3 Connecting cables in RS232 If desired items of the following cables for RS232 connection between the servo drive and network master such as a PC are available Table 2 1 RS232 Cable Cable as a Bees poban cable with DB9 connectors 10050328 Length 3 meters RS232 shielded cable with DB9 female connectors 10191117 Length 10 meters Other cables however can be found on the market usually called null modem or can be assembled according to the installation requirements 2 2 4 Connector Pin Assignment The connection for the RS232 interface is available through the XA121 and XA122 connectors using the following pin assignment SCA06 6 E Description of the Interfaces Table 2 2 Connector pin assignment for
19. s which are written many times a day The user must save on EEPROM only those parameters in which this action is really necessary 4 3 1 Reading telegram Master STX ADR COD NUM DMR DMR BCC SCA06 14 eg WEGTP Protocol COD code for reading gt 0x3C hexadecimal 60 decimal lt ASCII NUM number of parameters read Range from 1 6 DMR Number of the requested parameter The number of DMRs must be equal the value set in the NUM byte Slave ADR DSV E DSV BCC or ADR NAK DSV value of the requested parameter The number of DSVs is equal to the value set in the NUM byte Remembering that DMR DSV PHi PLo VHi VLo 4 3 2 Writing telegram Master STX ADR COD NUM DMW ii DMW ETX BCC COD code for writing 0x3E hexadecimal 62 decimal gt ASCI gt saving on the EEPROM OX3D hexadecimal 61 decimal ASCII gt without saving on the EEPROM NUM number of parameters written Range from 1 6 DMW number and content for the parameter The number of DMWs must be equal to the value set in the NUM byte Slave ADR ACK or ADR NAK Remembering that DMW PHi PLo VHi VLo 44 EXAMPLE OF TELEGRAMS USING THE WEGTP PROTOCOL All the following examples consider that t
20. the value to be written Example Response to the request of reading the enabling parameter POO99 gt VHi 0x00 hexadecimal VLo 0x01 hexadecimal informing that the servo drive is enabled ACK Acceptance byte of the slave after a writing of the master Value 0x06 hexadecimal 6 decimal NAK Refusal byte of the slave after a reading or writing of the master It can occur when the master requests the writing or reading of a non existing parameter or the value to be written in the parameter is outside the allowed adjustable range Value 0x15 hexadecimal 21 decimal 4 3 TELEGRAM FORMAT The formats of the reading and writing telegrams in parameters are presented below It is important to note that each telegram in the WEGTP protocol allows the reading or writing of up to 6 parameters at a time Telegrams that feature error in the format or incorrect BCC will be ignored by the servo drive which will not send answer to the master NOTE The writing time in the EEPROM is 10ms per parameter so it is necessary to take care for not overloading the servo drive with many telegrams in a row because this can cause the servo drive to ignore the last telegrams so as to have the time to write all parameters in the EEPROM when that occurs the servo drive indicates alarm 107 NOTE The number of writings on the EEPROM limits its useful life therefore it is recommended not to save on the EEPROM parameter
21. tures two dip switches that can be activated placing both switches SA121 in the ON position to enable the termination resistor Figure 2 1 Termination resistor 2 3 5 Connection to RS485 network For the connection of the SCAO6 servo drive using the RS485 interface the following points must be observed t is recommended to use a cable with shielded braided pair Itis also recommended that the cable have an additional wire for connecting the reference signal GND If the cable does not have the additional wire you should leave the GND signal disconnected The routing of the cable must be done separately and if possible distant from the power supply cables All the network devices must be properly grounded preferably to the same connection of the ground wire The cable shield must also be grounded Enable the termination resistors only in two points at the endpoints of the main bus even if there are derivations from the bar SCA06 8 mej Programming 3 PROGRAMMING Next the SCAO6 servodrive parameters related to the WEGTP communication will be presented 3 1 SYMBOLS FOR THE PROPERTIES DESCRIPTION RW Reading and writing parameter AC Parameter visible on the HMI only when the corresponding accessory is connected P00650 SERVO DRIVE ADDRESS IN THE SERIAL COMMUNICATION 1 RS232 P00656 SERVO DRIVE ADDRESS IN THE SERIAL COMMUNICATION 2 RS485 Range 1 to 247 Default 1 Properties RW AC Descriptio
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