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シリアル通信仕様書 - SMC株式会社

No. LA OMS0019-D.. ( ). / / . LATCA Series . (LATCA- , ) (RS485) . 1 . ( ) . ( ) . ( ) . Modbus (Modbus ) .. ( ). (14 8 ) (15 9 ) (20 6 ). ( ) 6 LAT3M-50 LAT3M-50. LAT3F-50 LAT3F-50. 4 4 20 . 19,200bps 2,400bps 2,400bps 9,600bps 9,600bps 19,200bps 19,200bps 38,400bps 38,400bps 57,600bps 57,600bps -1- ..4..6.. 6.. 6.. 6..7.. 7..9.. 9.. 9.. 9..10.. 11..11..12..14..15. EE ..15. EU ..22. AB ..22. MO ..23. MD ..25. OE ..26. RE ..28..30.. 31. I/O ..31..31..32..32..33..33..33. -2- ..33..34..35..36..37..37..37.. 38..38..39. 8 .. 41..41..41..41. 4 ..42. -3- LATCA Series/ .. (ISO / IEC) . (JIS)*1) *2) . *1) ISO 4414: Pneumatic fluid power -- General rules relating to systems. ISO 4413: Hydraulic fluid power -- General rules relating to systems. IEC 60204-1: Safety of machinery -- Electrical equipment of machines.

1 本取扱説明書について 本取扱説明書はカードモータコントローラ(latca- ,ver2.5)においてシリアル通信(rs485)で使用する際

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Transcription of シリアル通信仕様書 - SMC株式会社

1 No. LA OMS0019-D.. ( ). / / . LATCA Series . (LATCA- , ) (RS485) . 1 . ( ) . ( ) . ( ) . Modbus (Modbus ) .. ( ). (14 8 ) (15 9 ) (20 6 ). ( ) 6 LAT3M-50 LAT3M-50. LAT3F-50 LAT3F-50. 4 4 20 . 19,200bps 2,400bps 2,400bps 9,600bps 9,600bps 19,200bps 19,200bps 38,400bps 38,400bps 57,600bps 57,600bps -1- ..4..6.. 6.. 6.. 6..7.. 7..9.. 9.. 9.. 9..10.. 11..11..12..14..15. EE ..15. EU ..22. AB ..22. MO ..23. MD ..25. OE ..26. RE ..28..30.. 31. I/O ..31..31..32..32..33..33..33. -2- ..33..34..35..36..37..37..37.. 38..38..39. 8 .. 41..41..41..41. 4 ..42. -3- LATCA Series/ .. (ISO / IEC) . (JIS)*1) *2) . *1) ISO 4414: Pneumatic fluid power -- General rules relating to systems. ISO 4413: Hydraulic fluid power -- General rules relating to systems. IEC 60204-1: Safety of machinery -- Electrical equipment of machines.

2 (Part 1: General requirements). ISO 10218-1992: Manipulating industrial robots -- Safety. JIS B 8370: . JIS B 8361: . JIS B 9960-1: ( 1 : ). JIS B 8433-1993: . *2) .. 1.. 2.. 3.. 1.. 2.. 3.. 4. 2 .. -4- LATCA Series/ .. / .. 1 . *3).. *3) 1 . 1 .. ( ) .. -5- .. (LATCA- , ) .. ( ) . ( ) h b .. GUI Graphical User Interface I/O Input/Output I/F Interface MSB Most Significant Bit ASCII American Standard Code for Information Interchange BCD Binary-coded decimal MFC Microsoft Foundation Class API Application Programming Interface PLC Programmable Logic Controller PC Personal computer COM Computer on Module RS-485 Recommended Standard 485. USB Universal Serial Bus -6- .. (LATCA- , ) . PLC 16 . ( ) .. / ) ABS/INC) .. ( ) .. I/O . No ( ) . I/O PLC .. OFF .. ( ) . I/O PLC .. OE . - .. OFF .. OFF . -7- . ( ).

3 ID 1 .. " " .. -8- .. RS485 2 .. TM11R-5M2-88 .. 1 NC . 1. 2 NC . 3 SD + 1). 4 SD - 1). 5 NC . 6 NC . CN3 8. 7 NC . 8 NC . 1) . A/B +/- . 2 TXD RXD SD .. 5[V]. RS-485 . 47[k ]. 680[ ]. SD+. SD- 680[ ]. GND. 47[k ]. ) . -9- . 1 (LATH6- ) PLC .. LATCA. CN3 . LATH6- . No.. 1 NC. 2 NC . 3 SD+ SD+ SD+ ( +). 4 SD- SD- SD- ( -).. 5 NC. SG ( ). 6 NC. 7 NC. 8 NC GND ( 0V). No. CN1. 1 DC1(-). 2 DC1(+). ( 3 ) (LATH7- ) (LEC-CGD) . (LEC-CG2- ) (LEC-CG1- ) PLC .. LEC-CG2- . LATH7-1 .. LEC-CGR LEC-CGD . SD+ SD+. SD- SD- . SG. LEC-CG1- . GND. GND . LATCA_3 LATCA_2 LATCA_1.. 0V 0V . OFF .. -10- .. ( ) .. ASCII.. 128 . RS-485 . 2,400bps 9,600bps 19,200bps . 38,400bps . 57,600bps 8bit . 1bit . -11- .. ( ) . (i) PLC .. ID 1) . ( ) . 1byte 2byte 1byte 2byte 1byte 0 57byte 2byte 2byte "01"-"FF" 20h 20h LRC CR,LF. ) ID ( ).

4 ID . ID "01". ID 15 "0F". ID 16 "10". ) ID (20h) . (ii) PLC . (a) .. ID 1) .. 1byte 2byte2byte 2byte 0 55byte 2byte 2byte . "01"-"FF" "OK" LRC CR,LF.. ) ID ( ) . ID . ID "01". ID 15 "0F". ID 16 "10". (b) .. ID 1) NG .. 1byte 2byte2byte 2byte 2byte 2byte 2byte . "01"-"FF" "NG" LRC CR,LF.. ) ID ( ) . ID . ID "01". ID 15 "0F". ID 16 "10". -12- ( ) . ASCII . NG .. ASCII . (a) ( / ). (b) (BS TAB . (c) (CR+LF). ( ) ID . PLC . ID ID .. ID ID .. ID .. -13- .. ( ) . INDEX1 No INDEX2 . INDEX1.. EE INDEX2 . ( ) 1) 2 3 . DATA. INDEX1 No INDEX2 . 1). EU EE 1) 2 3 .. AB EU 1) 2 3 .. I/O . MO . No .. MD MODE . I/O . STEP. OE ENABLE I/O 1) 4) . ACTION. RE CLEAR / .. 1 EE EU,AB . OE . EE EU,AB . OE . 2 EE EU AB . 3 . EU,AB .. 4 MD MODE 1 I/O OE MODE. 0 I/O OE . -14- . EE . "INDEX1","INDEX2" . "INDEX1","INDEX2".

5 (i) . - . IND . ID INDEX1. EX2 . "01"- "3"-"17" "0"- 20h "EE" 20h 20h LRC CR,LF. "FF" "22" "14". - . IND . ID INDEX1 DATA. EX2 . "01"- "3"-"17" "0"- 20h "EE" 20h 20h 20h ASCII LRC CR,LF. "FF" "22" "14". - DATA .. (ii) . - . (a) .. ID . ( ) . "01"- "EE" "OK" ASCII LRC CR,LF. "FF". (b) .. ID NG .. "01"- "EE" "NG" LRC CR,LF. "FF". - . (a) .. ID .. "01"- "EE" "OK" LRC CR,LF. "FF". (b) .. ID NG .. "01"- "EE" "NG" LRC CR,LF. "FF". -15- - DATA . 5 . 1) ( ) . " EE 3 1D2" D2 . " " 8B . 2) ( 5000 m) . " EE 12 0A3"(A3 ). " "(F9 ). -16- . INDEX1 INDEX2 DATA.. 0 2 . 1). 0 [ m] 1 1). 1 [s] 0 60. 2 [mm/s] 1 0 400. 3 [mm/s ] 2. 1 0 60000. 4 [mm/s2] 1 0 60000. 1 20, 5 [mm/s] 2) 1 32768 . 32788. 6 3) 1 3). 3 0 , 50 , 100. ( 6) 7 [g] 50. 1000. 8 ( 0 ABS 1 INC) 1 0,1. 9 10 [ m] 1 0 1). 1). 11 AREA A 1 [ m] 1 0 1).

6 1). 12 AREA A 2 [ m] 1 0 1). 1). 13 AREA B 1 [ m] 1 0 1). 1). 14 AREA B 2 [ m] 1 0 1). 15 - - 4 0-15 . ( 6). 5 0-15 . ( 6). 6 0-15 . ( 6). 7 0-15 .. 17 0-15 .. 18-21 .. 4). 22 0-15 No1-15 .. -17- ) [ m] LAT3-10 10000).. INC [ m] -1 LAT3-10 -10000 . ABS 0. ) . mm/s 32768 "32768" .. - .. = 6 (= 6 mm/s 0 mm/s). 6mm/s .. = 32774 (= 6 mm/s).. "0" "32768" . 0mm/s . - .. = 32768 ( = 0 mm/s ). 6mm/s .. = 32774 ( = 6 mm/s ). ) (LAT3 -50 ). LAT3 -10 LAT3 -20 LAT3 -30 LAT3 -50 ) . ) 400mm/s .. " " . ) () No.. -18- . INDEX1 3-17 22 INDEX2 0 14 .. EE EU AB . EE .. -19- (iii) .. No .. -20- .. ABS .. INC . INF . INF ON .. INF ON . INP . AREA A 1. AREA . AREA A 2. AREA AREA A AREA B 2 . AREA B 1. 1 2 . AREA B 2. -21- EU . EE . (i) .. ID .. "01"- 20h "EU" LRC CR,LF. "FF". (ii) . (a) .. ID .. "01"- "EU" "OK" LRC CR,LF.

7 "FF". (b) .. ID NG .. "01"- "EU" "NG" LRC CR,LF. "FF".. I/O SVON OFF I/O OE ENABLE . 0 EU, AB .. AB . EU . (i) .. ID .. "01"- 20h "AB" LRC CR,LF. "FF". (ii) . (a) .. ID .. "01"- "AB" "OK" LRC CR,LF. "FF". (b) .. ID NG .. "01"- "AB" "NG" LRC CR,LF. "FF". -22- MO .. (i) .. ID .. "01"- 20h "MO" LRC CR,LF. "FF". (ii) . (a) . I/O . ID . No . "01"- "MO" "OK" 4byte 8byte 4byte 2byte 8byte 2byte LRC CR,LF. "FF". (b) .. ID NG .. "01"- "MO" "NG" LRC CR,LF. "FF". (iii) . (a) I/O . 2 ON " " OFF "0" ASCII .. DRIVE SVON IN 3 IN 2 IN 1 IN 0. INP 1) PLS OUT 1 OUT 0 ALARM BUSY. SETUP SVON TL CLR IN 1 IN 0. 0 0 0 1b 1b 1b 1b 1b 1b 1b 1b 1b 1b 1b 1b 1b ASCII "0000" "1 FFF". 1) "1" . 0A9Ch 0000,1010,1001,1100b I/O OUT1 ALARM SVON IN3 IN2 . (b) .. 0mm 1,000,000 . 0 mm . (10 ) 900,000 1,100,000. ASCII "000 DBBA0" "0010C8E0".

8 LAT3-10 ( ) . "000F418C" 999,820 . (1,000,000-999,820) x mm= mm -23- (c) mm/s . (10 ) 0 1000. ASCII "0000" "03E8". (d) . 10 . (10 ) 0 50. ASCII "00" "32". (e) .. 0mm 1,000,000 . 0 mm . (10 ) 900,000 1,100,000. ASCII "000 DBBA0" "0010C8E0". ) LAT3-10 ( ) . "000F418C" 999,820 . (1,000,000-999,820) x mm= mm (f) No No .. - . 0 . 1-15 No 20 . 99 . - . 0-3 No 99 . (10 ) 0 99. ASCII "00" "63". -24- MD . I/O . - I/O I/O . - I/O I/O . I/O I/O . I/O OE . (i) .. ID MODE .. "01"- 20h "MD" 20h "0","1" LRC CR,LF. "FF". (ii) . (a) .. ID .. "01"- "MD" "OK" LRC CR,LF. "FF". (b) .. ID NG .. "01"- "MD" "NG" LRC CR,LF. "FF". (iii) . MODE.. 0 I/O I/O . 1 I/O . (iv) MD . a I/O . MD I/O . b . c I/O I/O I/O . I/O MD I/O . I/O . d I/O .. e OE ENABLE"0" MD .. -25- OE . MD I/O .. No STEP ACTION"0" ACTION"1". STEP . EE.

9 (i) . ENA ACT . ID STEP . BLE ION . "01"- "0"-"15" "0", "0", 20h "OE" 20h 20h 20h LRC CR,LF. "FF" ,"20" "1" "1". (ii) . (a) .. ID .. "01"- "OE" "OK" LRC CR,LF. "FF". (b) .. ID NG .. "01"- "OE" "NG" LRC CR,LF. "FF". -26- (iii) . STEP ENABLE ACTION.. 0 0 OFF 0 . 1 15 1 ON 1 . 20 . (iv) .. STEP ENABLE ACTION. ON 0 1 0. 0 1 1. 0 1 0. # 1 1. # 1 0. OFF 0 0 0. # No(1-15,20).. -27- RE . "0" .. (i) . (a) .. ID .. "01"- 20h "RE" LRC CR,LF. "FF". (b) .. ID .. "01"- 20h "RE" 20h "0" LRC CR,LF. "FF". (ii) . (a) . 1 2 20 . ID . No No No . "01"- . "RE" "OK" LRC CR,LF. "FF" . (b) .. ID .. "01"- "FF" "RE" "OK" LRC CR,LF.. 4 . (a) . 1 2 3 4 . ID . No No No No . "01"- . "RE" "OK" LRC CR,LF. "FF" . (b) .. ID .. "01"- "FF" "RE" "OK" LRC CR,LF. -28- (iii) No.. No 16 . 0 00h . 1 01h . 2 02h . 3 03h . 4 04h .. 5 05h I/O.

10 6 06h . 7 07h . 8 08h . 9 09h .. 10 0Ah . 11 0Bh . No. 1 1 2, 2 3 . No. ( ) 16.. -29- . (1byte) ASCII (2byte) .. 01h ILLEGAL FUNCTION.. 03h ILLEGAL DATA VALUE.. ( ) . 06h SLAVE DEVICE BUSY ( ) EE .. 11h CHECKSUM ERROR.. 12h NOT ADU .. ) ( .. " 01 EENG111E".. 11h NG .. ID 01. -30- . I/O .. ( ) "OE" .. ( ) "EE" . ( ) "EU" . ( ) "AB" .. ( ) ( .. ( ) . ( ) 400 .. ( ) .. ( ) OFF .. ( ) .. I/O SVON OFF I/O OE ENABLE 0 . EU, AB .. -31- .. "MO" .. SVON OFF . "MD" I/O . "OE" . "1" "15" . "20" .. OE ACTION"0" ACTION"1" .. ACTION 0 "1" STEP . -32- .. ASCII _ MO .. MO . ACII 16 . 01_MOE3[CR,LF] 3Ah 30h 31h 20h 4Dh 4Fh 45h 33h 0Dh 0Ah ( ) 01 MOOK . ASCII 16 . ASCII _ (20h) [CR,LF] .. ID . 10mm . EU AB . No . 1 01 EEOK . 2 01_EE_3_0_10000 01 EEOK 10mm . 3 01_EU 01 EUOK . 4 01_AB 01 ABOK .. INDEX1 3-17 22 INDEX2 0 14.)


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