How to communicate with Compax3 via RS232

[Brian_Beal]

You send them from whatever device you need to send them from.  It could be a PC, HMI, PLC, etc.  If you are using a PC, you can do it from C3 Servo Manager's Optimization tool.

[davecyli]

TWGomez used this command:

O 1100.3=$6203

$6203 is 0110001000000011 in binary

So he's got Bit 9 or Address 1 enabled.

What does enabling it do?

What do the addresses reference and what do bits 4 through 7 do?

The documentation doesn't say. 

[Highland_Controls]

Addresses refer to the stored moves.  Address 1 selects the first move.  Address 2 selects the second move.  If address 1 and 2 are on, then move 3 is selected, etc.  Bits 4-7 turn on the physical outputs of the drive. 

[Vijay_Karthick]

Hi,

Object 1100.3 is called control word. If you have a T40 Compax3 drive, it is fully programmable. You can use individual bits of the control word to do any job. For example, the "0 th" bit of control word 1100.3 can be used enable the MC_Power block, "1 st" bit can be used to enable the MC_MoveAbsolute block and so on...

If the drive is T11 or T10 Compax3 drive, you cannot program it. In this case the control word has fixed factory settings for each bit. 

Bit0 - Quit (edge) / energize axis (Equal to Digital Input 0)

Bit1 - No Stop (Equal to Digital Input 1)

Bit2 - Jog + (Equal to Digital Input 2)

Bit3 - Jog - (Equal to Digital Input 3)

Bit4 - enable output0

Bit5 - enable output1

Bit6 - enable output2

Bit7 - enable output3

Bit8 - Address0

Bit9 - Address1

Bit10 - Address2

Bit11 - Address3

Bit12 - Address4

Bit 13 - Start (Edge)

Bit14 - No Stop (2nd Stop)

Bit15 - Brake open

Similarly, there are two Status Words (o1000.3 and o1000.4) which can be used to read specific and programmable(only some) bits. Read the T11 manual from the C3ServoManager Help or CD.

-vijay.

[Highland_Controls]

Vijay is correct on the addresses.  They are zero-based, not one-based as I stated.

[davecyli]

Thanks everyone.

If I don't have any stored moves must I still use bit 8 through 12?

What I am trying to do is make a Labview program that allows the user to modify

O 1901 (position)

O 1902 (speed)

O 1905 (mode)

O 1906 (acceleration)
O 1907 (deceleration/denominator)
O 1908 (jerk)

For each mode. O 1901.1 for MoveAbs, O 1901.2 for MoveRel etc..

The example code from earlier in the thread ended their script with:

"O 1100.3=$6203" (Sets the appropriate bits to move the axis)

-TWGomez

or

'O 1100.3=$6503'

-jpatrickuci

Both of thesehave addresses set to 1. I have yet seen an example where all the addresses are set to 0. Which is why I'm wondering if it is necessary or not. Since I dont' have any moves stored and just want to run the motor continuously at the settings the user sets.

Does Jog+ set the motor to run continuously? 

Thanks again

[davecyli]

Looking at the Status Diagram on 5.1 of the manual.

 

 It looks like Jog and and Contiunous Motion are 2 different things.

I will try to get continuous motion working rather than rely on jog.

This, I think, will require me to use the Velocity mode.

[Vijay_Karthick]

Jogging is manual motion. Move absolute and move relative or move additive are discrete motion modes. Move velociy is continuous motion mode.

As long as you keep pressing jog + or jog -, you can have motion.

To stop it, just release the jog button!

Simple and clean!

[davecyli]

Yeah, but as a serial command. I thought I could set it to jog+ and it would just jog but apparently it doesn't work that way :]

I'm currently having the same trouble as TWGomez from the first page of this thread.

In that, writing and reading objects work. I can set an object to have a value and afterwards, read back that value.

The thing though is that the motor doesn't react. I set O 1100.3 = 1 to energize the axis and it doesn't.

In setup mode, I can energize it just fine, I press the button and I can hear it humm. When I send this commandword it doesn't do that.

My compax3 is a T11 not a T30 like TWGomez's if that makes any difference.

[Highland_Controls]

I12T11?