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B-2 Command Set MN1851
Upon receiving a command, the controller answers by sending the function
parameter and variable list. General purpose commands are not prefixed. These
commands only consist of the command identifier and therefore need the general
structure
“Command Identifier” [“Delimiter”]“Parameter list” [CR]
With the non–prefixed commands, no delimiter is mandatory, but the blank space
can be inserted optional.
Parameters and Units
The parameters used within the ASCII commands are integers of different sizes:
INTEGER:
16 bit value ranged 8000.. 7FFF hex ( –215.. +215–1 dec. )
UNSIGNED INT: 16 bit value ranged 0.. FFFF hex (0..216–1 dec.)
LONG: 32 bit value ranged 80000000.. 7FFFFFFF hex ( –231.. +231–1 dec.)
UNSIGNED LONG: 32 bit value ranged 0.. FFFFFFFF hex ( 0.. +232–1 dec.)
STRINGS: Strings of ASCII characters (0 .. FF hex).
A string parameter is preceded and terminated with double quote character (″)!
Commands, which accept or require more than one parameter, use parameter lists
which are composed of the sequence of parameters necessary, with the delimiters
blank space or comma between.
The number of the parameter can be given as decimal value or as hexadecimal
value. Hexadecimal values are preceded by one or more 0–character (30 hex),
while decimal values are taken as default without indicator.
The ASCII command set description below, also shows the units of the parameters
respectively indicate parameters with no units. For best resolution within the
accepted range, the units of the parameters are not chosen according to SI, but
most of the units used are SI units multiplied with potentials of 10.
In some cases, units are related to system properties and can therefore not be
same for all applications. The following is an example of how to calculate Counts
and Limits, used with positioning and homing:
Encoder
Pulses/rev. Resolution Limits
1000 4000 225–1
1500 6000 226–1
2000 8000 226–1
2500 10000 227–1
5000 20000 228–1
6000 24000 228–1
The resolution of all linear encoders is between ± 2
13
and ± 2
14
.