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Appendix B
Command Set
Command Set B-1MN1851
Lin – ASCII – Command – Set
General
Lin controls use the RS232 communication port (optional RS485) as the Interface.
This document describes existing LinDrive/Lin+Drive ASCII terminal commands
for setup and control of the servo drive.
There are three types of ASCII commands:
1. Parameters. Without parameters, these commands are handled as
queries. To modify the value of a parameter, the value to be set is added
to the command. Some parameters may only be modified under special
drive conditions. Query is not restricted to special drive conditions.
2. Variables or system constants. System variables are internally updated
in the control, and can not be changed by the user. System constants
are fixed (e.g. by hardware) system properties. Query of variables or
constants is not restricted to special drive conditions.
3. Methods support control of the system. Methods may or may not require
a parameter. Commanding a method to be executed is in some cases
also restricted to special drive conditions. Each command is defined as
a special mnemonic, which is used for query of parameters, variables
and constants as well as for parameter less methods. Modifying a
parameter respectively commanding a parameterized method is done by
simply adding the parameter value to the mnemonic.
Syntax
General structure of the ASCII command
Each ASCII command is structured in principle according to “Mnemonic”
“Delimiter” “Parameter List”. Syntax allows multiple commands in the same string
separated by blank space delimiter. Each command string is terminated by a
carriage return. i.e. generally, a command string looks like:
“Mnemonic1” “Delimiter” “Parameter List1”... “MnemonicN” “Delimiter” “Parameter ListN” [CR]
Up to 80 characters are allowed at the command prompt.
For each correct command the control returns a “>” sign (ASCII 3E hex) as an
acknowledge. If a command is not accepted, the reason for the command revision
is sent instead of the acknowledge.
Mnemonics
The mnemonics are not case sensitive. Most of the ASCII commands are grouped
into functional groups. The Mnemonics of the commands of parameters, variables
and methods of these function groups have a prefix, which indicate the function
and, separated by the dot, the command identifier. The general structure of
Function Group Commands is as follows:
“Functional Group”.“Command Identifier” “Delimiter”“Parameter list” [CR].
e.g.SYS.MOD 1
All prefixed commands are drive parameters. The delimiter between mnemonic
and parameter of these commands is either blank space or equal sign (one of both
is mandatory). To query all parameters and variables of a function group, the
function group prefix followed by dot and asterisk can be used:
“Functional Group”.*
e.g.SYS.*