Hyundai HI4 Robotics User Manual


 
6. System setting
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6 - 39
6.2.8 External error output
Outline
This is the function that outputs the detected error no. to the external device.
Screen display
The serial output outputs ASCII code to the external device using serial
interface(RS232C).
Output type are
First byte : “ $”
2nd∼6th byte : “ ERROR”
7th byte : “ ” (Blank)
8th∼11th byte : error number
12th byte : C
R
13th byte : L
F
For example
In case of error 0101( E0101 )
$ E R R O R 0 1 0 1 C
R
L
F
└─┴─┴─┴─┴─┴─┴─┴─┴─┴─┴─┴─┴─┴
1 2 3 4 5 6 7 8 9 10 11 12 13
First number designation output outputs the error number to the external device through
the O signal assigned in the “ SYSTEM” [PF2] → 2. CONTROL PARAMETER → 1. IN/OUT
SIGNAL SETTING → 6: OUTPUT SIGNAL ASSIGNMENT.
14:39:38 *** Error out
p
ut *** A:0 S:4
Serial output =<Disable,Port1,Port2>
Discrete output = <Disable,8bit,16bit>
Press
[
SHIFT
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+
[
<-
][
->
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>