ProfiRT3 User`s Manual
Contents
1. codes ProfiRT3 User Manual 8 Terminal Display 6 Terminal Display 6 1 General Information ProfiRT3 displays on its LCD the received ASCII character at the current cursor position Every time it receives a character the cursor moves from left to right When the cursor reaches the furthest right hand point the cursor moves to the left hand side of next row When the cursor reaches the right hand side of the last row it moves to the left hand side of the first row For the corresponding characters and their ASCII codes please refer to the Appendix 6 2 Error Message Displayed Error OOh RT1 Connection Hand Shake Code ProfiRT3 sends 00h out 08h BS Back Space Code Line Feed Code Cursor moves to next row When it OAh LF reaches the last row cursor will not move ODh CR Cartridge Return Code Cursor moves to the beginning in he same row 1Bh ESC Escape Code Connection Test send 00h to ProfiRT3 If 00h is received then ProfiRT3 is connected ProfiRT3 User Manual 9 Terminal Display 6 3 Escape Sequence The escape sequence represented by the Escape Code 1Bh one character has the following special meaning Escape Sequence Function BpecHicalon deron o TT Cmm CS Erase To End Of Screen Erase from cursor position to the end of screen Erase To End Of Line Erase from cursor position to the end of line Eme TT Key Brake Code hen key is pressed generate the key co2. IT Master Busy bTemp 1 0 bTemp 2 0 ABS WritelnArea pstrStatus gt m pPath O bTemp 3 100 dwStart GetTickCount while TRUE if ABS ReadOutArea pstrStatus gt m pPath O bTemp 3 100 ERR NONE break if DTemp 0 amp SLAVE REQUEST break Slave Req if GetTickCount dwStart RESPONSE TIMEOUT break bTemp 0 0x00 Master Busy OFF bTemp 1 0x00 bTemp 2 0x00 ABS WritelnArea pstrStatus gt m_pPath 0 bTemp 3 100 pstrStatus gt UpdateButtonStatus bData bOnRead FALSE bleep 50 return 0 For details please refer to the enclosed VC project file CD ROM ProfiRT3 User Manual 7 Keys LED Locations amp Key Code 5 Keys LED Locations amp Key Code The Keys and LED location of ProfiRT3 are shown below for 1 axis type and multi axis type The key code of ProfiRT3 is shown at the bottom right of each key LCD can display ASCII characters for 15 x 20 resolution 12345678901234557890 1 2345678901234567890 1 1 2 2 3 3 4 4 LCD LED LED LED The hexadecimal values shown in bold face at the bottom right corner of each key represent the code to be sent out when the key is pressed For example if sF15 is pressed ProfiRT3 will send out 01 hexadecimal When lt 1 gt is released ProfiRT3 sends out 80 01 hexadecimal by default The code that each key represented are NOT the standard ASCII
3. YYNASERVO ProfiR T3 User s Manual Dynaservo Inc email sales dynaservo com http Awww dynaservo com The information in this document is subject to change without notice and should not be construed as a commitment by Dynaservo Incorporation Dynaservo Incorporation assumes no responsibility for any errors that may appear in this document In no event shall Dynaservo Incorporation be liable for incidental or consequential damages arising from use of this document or of the software and hardware described in this document This document and parts thereof must not be reproduced or copied without Dynaservo Incorporation s written permission and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose Contravention will be prosecuted Additional copies of this document may be obtained from Dynaservo Incorporation Dynaservo Inc 3950 14th Avenue Suite 402 Markham Ontario Canada L3R 0A9 Table of Content 1 Overview 2 Technical Specifications 2 1 Standard Specifications 2 2 Customer Defined Features 3 Unit Setting 3 1 Procedures to Access Setting Menu 3 2 Procedures to Set or Change Unit Parameter 3 3 Procedures to Set or Change LCD Backlight Setting or Ke Break Code 4 Communication Specifications 4 1 Cable Pin Definition 4 2 GSD File 4 3 ProfiBus Communication Speed 4 4 Node Station Number Setting 4 5 ProfiBus Terminator Switch 4 6 Communication Protocol 4 7 VC Sample Prog
4. de When key is released generate key code 80h Key Brake None hen key is pressed generate the key code When key is released do nothing Key Brake Zero hen key is pressed generate the key code When key is released generate 00 code psate Gurser Birk TT TT Row1 Colf 20h row position 20h column position woos 7T7 lU U rox TT ew esw TT iov son mo TT MOF zor TT Ha ProfiRT3 User Manual 10 Appendix Appendix LCD Character Code The correspondence between characters and their ASCII codes is given below 100 101 110 111 upper 4bits lower 4bits Eu ome ome Ei E owe o sa mem SASA eile eo d ode AASA EE ProfiRT3 User Manual 11
5. he node station number is fixed at 16 for the time being It is possible to change the station number offline using a rotary switch in future ProfiRT3 User Manual 5 Communication Specifications 4 5 ProfiBus Terminator Switch There is a jumper switch inside the unit to enable disable the ProfiBus terminator resistor The switch name is S3 Configuration Function 5371 S3 2 ION ONI 53 1 S3 2 ON OFF Not Allowed S3 1 S3 2 OFF ON Not Allowed 63 1 S3 2 OFF OFF Terminator OFF 4 6 Communication Protocol First Byte Second Byte Sending Receiving Flag PROFIBUS Sending Busy OFF PROFIBUS Receiving Data Receiving Data Sending ProfiRT3 User Manual 6 Communication Specifications 4 7 VC Sample Program for ProfiBus Master to Receive Data from Slave define MASTER_REQUEST_BIT 0x01 define MASTER_BUSY_BIT 0x02 define SLAVE_REQUEST_BIT 0x01 define SLAVE_BUSY_BIT 0x02 define RESPONSE_TIMEOUT 3000 msec DWORD WINAPI WorkerThread PVOID pContext UINT8 bTemp 3 UINTS bData DWORD dwStart CProfibusMaster1Dlg pstrStatus CProfibusMaster1 Dlg pContext CString strTemp while fWorking if pstrStatus gt m bOpenFlag TRUE amp amp bOnWrite FALSE bOnRead TRUE ABS ReadOutArea pstrStatus gt m_pPath 0 bTemp 3 100 if bTemp 0 amp SLAVE REQUEST BIT Slave Req ON bData bTemp 2 Slave Data bTemp 0 MASTER BUSY B
6. hen on in order for the new parameters to take effect 3 3 Procedures to Set or Change LCD Backlight Setting or Key Break Code 1 Press F2 from the RT3 main menu refer to 3 1 to access LCD KEY setting menu to set LCD Backlight setting or key break code RT3 LCD KEY F1 BACKLIGHT ON F2 KEYBREAK CODE lt CLR gt MENU 2 Press F1 to select from ON 60min 10min for screen backlight ON indicates the backlight will be turned on all the time 10min 60min indicates the backlight will be turned off if none of the keys are touched for a time period of 10 60 minutes 3 Press F2 to set the key break code among CODE NONE ZERO ProfiRT3 User Manual 4 Communication Specifications 4 Communication Specifications 4 1 Cable Pin Definition Signal Name Color Signal Signal Name Color Signal Level Level E Yellow Red 24V IN POW GND Yellow Black 24VDC EMG1 Pink red ENG1 COM Pink Black EMG2 Grey Red 2 Grey Black DeadMan1 Orange Red2 DeadMan1 COM Orange Black2 DeadMan2 Grey Red2 DeadMan2 COM Grey Black2 Orange Red NOT USED White Red i BD EERE E Inour vano e sw 4 2 GSD File DNX_0001 GSD GSD Version Revision 2 ProfiBus DP Version DP VO 4 3 ProfiBus Communication Speed ProfiRT3 supports up to 12Mbps communication speed refer to DNX 0001 GSD 4 4 Node Station Number Setting T
7. ng Emergency switch 3 Position liveman switch Others please contact our sales office for further details ProfiRT3 User Manual 2 Unit Setting 3 Unit Setting 3 1 Procedures to Access Setting Menu Pressing lt SHIFT gt CLR and MODE keys simultaneously leads to the following unit setting screen F1 RS232C lt F2 gt LCD KEY lt F3 gt FONT lt F4 gt SAVE lt CLR gt QUIT 2004 10 21 Communication stops at this time 3 2 Procedures to Set or Change Unit Parameter 1 Press lt F1 gt from the RT3 main menu refer to 3 1 to access the RS232C menu for unit parameter changes RT3 RS232C F1 BAUD RATE 09600 F2 DATA BITS 8 F3 PARITY NONE F4 STOP BITS 1 lt CLR gt MENU ProfiRT3 User Manual 3 Unit Setting 2 Press lt F1 gt lt F4 gt key to select the parameters and set corresponding values No Parameter amp Set Value Available Choices 9600 19200 56000 STOP BITS 1 1 2 KEY BREAK CODE NONE ZERO CODE Note Bold Face Indicates Default Values For ProfiBus communication the baud rate has to be set as 19200 This is the unit internal communication speed NOT the ProfiBus communication speed between nodes which can be as high as 12Mbps After parameters are changed press CLR to return to the RT3 main menu Press F4 to save the parameters If communication parameters are changed please turn the power off and t
8. ram for ProfiBus Master to Receive Data from Slave 5 Keys LED Locations amp Key Code 6 Terminal Display 6 1 General Information 6 2 Error Message 6 3 Escape Sequence Appendix LCD Character Code ON NN lt WW DO NA NA Ads O O ProfiRT3 User Manual Overview 1 Overview The ProfiRT3 is a handheld control terminal with ProfiBus DP communication capability The terminal is specifically designed for control of robotic systems and automated machines The ProfiRT3 integrates LCD display keypad and operator safety devices into one compact and convenient unit Almost all features of the ProfiRT3 can be customer defined to produce a truly dedicated control terminal for any motion control applications ProfiRT3 User Manual 1 Technical Specification 2 Technical Specifications 2 1 Standard Specifications ltem Description Keypad 5x8 4 mechanical key switches Display 15 rowx20 character LCD display Emergency Stop Switch Mushroom style push lock type switch 2 dry contact outputs 3 Position Liveman Switch 2 dry contact outputs option Communication Interface ProfiBus DP VO Power Supply DC24V 60mA Working Temperature 0 40 Degree Dimension Weight 235x120x30 mm 310 g Cable Length 2m standard 2 2 Customer Defined Features Customers can specify the following when ordering their original terminal Keypad layout and definition Cable length connector and wiri
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