WIRELESS DATA COMMUNICATION MODEM FDL01TU Wireless Modem with Serial Interface Instruction Manual Futaba Corporation Industrial Radio Control i
I Notice This device complies with part 15 of the FCC rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.
II Important Safety Information The list of dangers, warnings and cautions in this section contain important information that will help ensure safe operation of the system. Please read carefully and understand all of these items. All installers, operators and maintenance personnel should read and understand this information before installation, use, or maintenance of the FDL01TU system. The FDL01TU system by itself is not inherently dangerous.
Four symbols are used in the margin of the following section and throughout the manual to indicate the level of hazard or information listed. The symbols are defined as follows: Indicates a hazard that will cause severe personal injury, death, or substantial property damage if the warning is ignored. Indicates a hazard that can cause severe personal injury, death, or substantial property damage if the warning is ignored.
to the equipment being controlled, or to anything in the area in which such equipment is located. All integrated control systems should be designed for “fail-safe” operation so that a temporary or permanent loss of signal will not endanger any person, critical process, or equipment (refer to the beginning of the safety section for further explanation). The system design should ensure that the equipment being controlled will default to its safest state in the event of signal loss.
accidental damage to the system and unexpected operation and/or injury. Be sure the FDL01TU modem power, the power to the equipment that is being connecting to it, and the DC power source are all turned off before wiring and connecting the power cable. Be sure that the supplied power is within the specified range (3.5 to 7.0 VDC). Voltages outside the specified range may damage the FDL01TU modem. Be sure that the power source has sufficient current capacity.
Before each use, verify that the antenna (and antenna cable, if used) is securely attached and in good condition. A loose antenna or cable may severely reduce the operating range of the system. When installing the FDL01TU modem in a mobile unit such as an Automated Guided Vehicle (AGV), Futaba recommends to use the diversity reception feature as a remedy for multipath fading problems. For diversity reception, install the two antennas as far apart as possible in order to gain maximum benefit (6 cm minimum).
II.IV Environmental Safety Hazards and Notes If the FDL01TU modem has been stored at a temperature beyond the specified operating temperature range for the system, it may not function properly. Allow it to return to normal temperatures before use. Refer to APPENDIX A – TECHNICAL SPECIFICATIONS for the actual operating temperature range. The FDL01TU modem is a precision electronic device with a rugged design that is intended for industrial applications.
Operational Safety Hazards and Notes Before each use of the FDL01TU modem, ensure that the area where the equipment will be operated is clear of people or obstacles that may affect its safe operation. Before each use of the FDL01TU modem, verify that both the equipment being controlled and the modem are in proper operating condition. When rewriting the FDL01TU modem’s memory registers, do not turn the modem’s power off until the modem returns a “P0” response.
III System Identification For future reference, please take a moment to fill in the information below. This information will help us respond as quickly as possible should your FDL01TU modem ever need repair or replacement.
IV Limited Warranty FUTABA WARRANTS ONLY THAT THE INDUSTRIAL RADIO CONTROL SYSTEM GOODS OR PRODUCTS FURNISHED HEREWITH SHALL BE FREE FROM DEFECTS IN MATERIAL AND WORKMANSHIP UNDER NORMAL CONDITIONS OF USE AND SERVICE FOR A PERIOD OF ONE (1) YEAR FROM THE DATE OF SALE TO THE PURCHASER WHO IS THE FIRST BUYER OF THE GOODS FOR USE OR CONSUMPTION AND NOT FOR RESALE OTHER THAN AS A COMPONENT OF ANOTHER PRODUCT MANUFACTURED FOR SALE BY SUCH PURCHASER (“CONSUMER”).
V Returns Futaba’s authorization must be obtained prior to return of any item for warranty or other repair or replacement or credit and will reflect Futaba’s warranty service procedure. Consumer’s warranty rights are governed by the terms of Futaba’s Limited Warranty, as above described. Products returned for warranty repair or replacement or credit must be carefully and securely packed for return, preferably in the original carton or equivalent.
TABLE OF CONTENTS 1 INTRODUCTION............................................................................................... 1 1.1 1.2 1.3 Special Features.............................................................................................................2 How To Obtain Help........................................................................................................3 Physical Description .................................................................................................
SECTION 1 1 1 INTRODUCTION
1.1 Special Features The following list highlights some of the special features of the FDL01TU. For more complete system specifications please refer to p.66 SPECIFICATIONS. • Approved under FCC Part 15.247 rules -- no special user license required • Operating range greater than 1000 feet, line-of-sight -- configurable as a repeater for extended range of application service area • 2.
1.
1.3 Physical Description Please review the following section and take a moment to familiarize yourself with the FDL01TU wireless modem. Figure 1–1: Upper View Figure 1–2: Bottom View (1) Communication Connector Used to connect to the DTE(Data Terminal Equipment) with interface cable. Also controlling functions such as hardware reset and RS232C/RS485 selecting pins are available. Signal is CMOS level. (2) Antenna Connector A/B Used to connect to antennas for transmit and receive functions.
SECTION 2 2 SYSTEM INSTALLATION 5
2.1 Wireless Modem Installation 2.1.1 Mounting Method 1 A method to mount the modem directly on a surface using the mounting holes at the side of the modem’s print circuit board. When using this method, provide a guide on the opposite side, because two holes are not sufficient to securely mount the modem. Figure 2–1: Mounting Method 1 2.1.2 Mounting Method 2 To mount the modem using the holes on a flat horizontal surface, which are 3.5mm deep for M2 screws.
WARNING The FDL01TU is designed to be used inside the room. In case of using it outdoor, be sure to use it within the extent limited by the environmental specification, and check the ambient temperature and the state of water-proof. 2.2 Communication Cable Connection Use the serial communication cable prepared by Futaba to connect the FDL01TU modem to the external terminal equipment. For the connection of the modem, see p.22 PIN ASSIGNMENT. The signal level of the FDL01TU is CMOS.
Figure 2–5: Connecting the Antenna 2.3.2 Diversity Antenna Setup In certain situations, reception can be improved by using the integrated antenna diversity feature. This is accomplished by using two separate antennas and enabling the diversity function in REG19 (see p.27 MEMORY REGISTER DESCRIPTION). Refer to the figures below for details about the actual mounting and connecting methods.
2.4 Other Installation Precautions 2.4.1 Modem Installation Precautions WARNING WARNING Securely attach the antenna cable, and serial communication connector to the FDL01TU modem and equipment/power source to which it is connected. Failure to not do so could cause an unexpected system failure. The FDL01TU modem is a precision electronic device. Its rugged design is intended for industrial applications. However, do not install it where it will encounter excessive vibrations.
WARNING Avoid mounting the antenna near large metallic objects or inside metal enclosures. Such objects can severely reduce the operating range of the system. When installing the FDL01TU modem in a mobile unit such as an Automated Guided Vehicle (AGV), Futaba recommends using the diversity receive function as a remedy for to multipath fading problems. For diversity reception, install the two antennas as far apart as possible in order to gain maximum benefit (Actual recommendation is 30 cm, 6 cm at least).
SECTION 3 3 11 SYSTEM OPERATION
3.1 Data Transparent Mode 3.1.1 What Is Data Transparent Mode? In data transparent mode, the FDL01TU modems are continuously connected in a 1:1 configuration. Full-duplex communication is simulated between the two terminals using a method in which each modem rapidly switches between transmitting and receiving (referred to as Time-Division-Duplex (TDD) transmission). With the exception of FDL01TU modem commands, all data input from the sending terminal are transmitted to the receiving terminal.
3.2 Packet Transmission Mode Packet transmission mode operates as half-duplex communication and requires explicit commands to control the modem transmissions. Because this mode allows the addressing of different destination receiver modems by embedding the address in the data packets, it is best suited for 1:n and n:m topology applications. In packet transmission mode, the FDL01TU modem normally waits in a ready-toreceive state.
one and then it outputs a successive completion response (P0) to its terminal equipment. When the remote receiver modems receive the transmitted data successfully, they output the data to their terminal equipments normally and do not return ACK packet. Once a valid data packet has been received correctly by a receiver modem, rest of data received during any subsequent retransmissions are discarded and not output to its terminal equipment.
The following list shows each command’s syntax as issued at the sender terminal equipment and the response displayed at the receiver terminal equipment when the packet is received. 1. Direct Text Data Transmission transmit: @TXT [destination address]{source address}[message] receive: RXT [source address][message] CR/LF 2. Direct Binary Data Transmission transmit: @TBN[destination address]{source address}[message length][message] CR/LF receive: RBN [source address][message length][message] CR/LF 3.
3.3 Headerless stream Mode 3.3.1 Operation in the headerless stream mode The headerless stream mode is a specific transmission mode to set transmission data without the packet header, employing the protocol of the packet transmission mode. Parameters such as receiver or repeater addresses are set either by the memory register or by the command. A transmission data packet is automatically terminated by the specific character (terminator). Command responses (P1, P0) are not output.
The difference between the text mode and the binary mode does not matter in the headerless stream mode. 3.3.1.2 Commands for the headerless packet mode The same command as used in the packet transmission mode can be used, but the following commands which attempted transmission cannot be used. TXT, TXR, TBN, TBR, RPT, RTY. 3.3.1.3 Repeater in the headerless packet mode The repeater also can be used in the headerless stream mode. The repeater address is set with the memory register or the PAS command.
3.5 Frequency Grouping 3.5.1 Frequency Allocation The FDL01TU can operate on 76 available frequencies between 2403 MHz and 2480 MHz with 1 MHz separation between each frequency. See the table below for the exact frequency assignments. Freq.No. Freq.(MHz) Freq.No. Freq.
3.5.2 Frequency Group Operation The FDL01TU can operate on a fixed frequency or on any frequency in a set of frequency group. Multiple FDL01TU systems can be use different frequency groups and operate in the same area without mutual interference between the systems. When the RF environment is relatively clean, wireless channel links can be made on a fixed, clear frequency (no interference) by using Grouping Method A.
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SECTION 4 FUNCTION CONTROL METHODS 4 21
4.1 Interface 4.1.1 Pin Assignment The figure below shows the pin location of the serial communication connector, following the DCE (Data Communication Equipment) specification.
5. Pin 11 can be used as the hardware reset. Since the input pin is at high impedance, never fail to tie the input level. 6. It is no problem if Pins 12, 13 and 14 are leaved open. 7. Since the interface is CMOS structure circuit, it is recommended to take a remedy against ESD problem (e.g. surge absorber; VRD series, made by Ishizuka Denki). 4.2 Serial Interface Setting For connecting the FDL01TU modem with an external terminal equipment, RS232C is appropriate for 1 to 1 topology.
4.3 Terminal Software Setup for Memory Register Control Communication or terminal software is necessary to set the memory registers. Nearly any PC communication software can be used. Launch the communication software and set the terminal’s communication parameters as shown below. Refer to your specific communication software instructions how to set these parameters.
CAUTION If the memory contents are lost or corrupted, they can be restored to original default settings by reinitializing them. (See the section below titled p.25 MEMORY REGISTER INITIALIZATION) Input character arrays of commands quickly and sequentially. Too slow input (taking more than 5 seconds in the initial setting) results in command error. 4.4.2 Memory Register Initialization The memory registers can be restored to the factory default values at any time by using one of the following two methods.
4.5 Command Control Some FDL01TU parameters can be changed by issuing commands from the terminal equipment. Various applications can be supported with the flexibility that command control offers. Command Entry • When a command is issued to the modem from the terminal equipment, a command header (one byte character) should be used the modem to acknowledge the command from ordinary data.
SECTION 5 5 MEMORY REGISTER DESCRIPTION 27
5.1 Memory Register Description The FDL01TU modem contains 28 memory registers which are used to control and store communication parameters and operation mode settings. After rewriting new register settings, the power must be cycled, a hardware reset asserted, or a software RST command is issued to validate the new settings.
REG00: Local Station Address • • • [default value: 000] Sets the local station address. Valid values are 000 to 999. This value is inserted in the “source address” field in the transmitted packet header. If the address check function is enabled (REG18) in the receiving modem, the modem can receive the packet which header contains destination address information identical to REG00. REG01: Local Station Group Address • • • [default value: 240] Sets the local station global address of the modem.
REG06: Frequency Group • [default value:C00] Refer to p.18 FREQUENCY GROUPING in Section 3, for a detailed description of the frequency operation modes.
REG11: Retransmission Count • • [default value: 32H] Sets the maximum number of packet retransmission attempts. Valid values are 000 to 255. When retransmission exceeds the retransmission count (retransmission count plus one), the modem outputs an error response to the terminal equipment. REG12: Roaming Threshold • • [default value: 50H] At the time to set the frequency roaming (REG19:bit 2 is 1), set the receiving strength threshold of the radio beacon which starts scanning frequency.
REG16: Terminator 1 • [default value: 0DH] Set an arbitrary 1 byte terminator. In case of a 2-byte terminator, set the first byte character of the terminator. REG17: Terminator 2 • [default value: 0AH] Set another arbitrary 1 byte terminator. In case of a 2-byte terminator, set the last character of the terminator .
• • Sets the terminator to identify the breakpoint of a packet. The modem transmits data considering this character as the breakpoint of a packet. In case of using an arbitrary terminator, set it to REG16 and 17.
• Enable/disable reception of broadcast transmission in packet transmission mode (Mode 3 and 5). Bit 4: Antenna selection 0 1 Antenna is fixed to A (default value) Antenna is fixed to B Table 5–8: Antenna Selection • At the non-diversity reception, decide the antenna terminal.
REG20: Serial Interface Setting 1 [default value: 05H] Bit 7: Data Length 0 1 8 bit data bytes (default value) 7 bit data bytes Table 5–13: Data Length Settings Bit 6: Parity Bit 0 1 No parity bit (default value) Parity bit Table 5–14: Parity Settings Bit 5: Even/Odd Parity 0 1 Even parity (default value) Odd parity Table 5–15: Odd/Even Parity Settings • Invalid when bit 6 is set to 0, without parity.
REG21: Serial Interface Setting 2 [default value: 09H] Bits 7 – 4: Reserved • The FDL01TU does not use this register. Keep the default value as it is. Bit 4: Command Header 0 1 Use REG 10 character Use Break signal Table 5–16: Command Header Bit 1: Flow Control 0 1 Software flow control (default value) Hardware flow control Table 5–18 Software/Hardware Flow Control Settings • • • Selects the flow control method. This setting must match the connected terminal equipment’s setting.
• Issue the REN command to enable reception. Bit 6: Reserved • The FDL01TU does not use this register. Keep the default value as it is. Bits 5 – 4: DCD (Data Carrier Detect) Bit 5 0 0 1 Bit 4 0 1 0 1 1 Setting Ignore DCD input; DCD output always ON (default value) Ignore DCD input; DCD output ON at connection, OFF at disconnection Remote modem’s DCD (IN) is transferred to local modem DCD (OUT).
Bit 4 : CR/LF addition/deletion (1) Setting at the headerless stream mode does not add CR/LF code to the received data (default value) adds CR/LF code to the received data 0 1 Table 7–6: Addition of CR/LF code • • In the headerless stream mode, setting is made whether the CR/LF character is added to the received data or not. In the communication between the modems set to the headerless packet mode, this setting is invalid because the terminator is originally added to the transmit data.
• To use this function, set REG23:bit 1 of all RS485 multi-dropped modems to 1. And set all the RS485 Packet Interval (REG07) to different values more than 1.5 bytes each. Further set this bit of the modem, the RS485 Packet Interval is set to the longest, to 1.
REG24: Special Mode Settings [default value: C0H] Bit 7 : reserved • The FDL01TU does not use this register. Keep the default value as it is. Bit 6: Transmission trigger (Headerless stream mode) 0 1 Need trigger even if data number exceeds 255 bytes(default value) Transmit without trigger when the data number exceeds 255 bytes Table 5–26: Transmission trigger setting • Sets the trigger mode of the Headerles stream mode. Bit 5 – 2: reserved • The FDL01TU does not use this register.
Bit 0: Route finding 0 1 According to the memory registers (default value) Trace the received packet. Table 5–29: Settings of the route REG26: Data input timeout • [default value: 00H] Sets the vacant duration time interval to recognize as the end of the message data input in the headerless stream mode. REG27: Reserved • [default value: 00H] The FDL01TU does not use this register. Keep the default value as it is.
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SECTION 6 6 COMMAND SET DESCRIPTION 43
6.1 Command Set Description This section provides a description of each command available in the FDL command set. The table below lists each command and it applicability in each operation mode.
ARG Reference All Memory Registers Syntax ARG{Local Station Address} Local Station Address : local station address for 485 mode (000 to 999). Response All settings are indicated (REG00 to REG27) N0: command error (Except 485 mode) Function Recalls the contents of all 28 memory registers.
CON Connect Wireless Link Syntax CON(destination address) destination address Response P0 P1 N0 N1 N4 : : : : : : 000 to 999 connection established command received, link established command error connection failed – no response from destination modem connection failed – local modem already connected to a remote modem. Function Requests a wireless link connection to the remote modem in data transparent mode.
Response xxx P0 N0 : current value (reference) : command accepted (setting) : command error Function References or sets the destination address of the modem connection established with in the data transparent mode and headerless stream mode The current DAS value can be referenced by entering the command with no parameter. The DAS command is used for temporary modifying destination address. Change the value of REG02 to change the default value.
DCN Disconnect Wireless Link Syntax DCN Response P0 P1 N0 N1 N4 : : : : : connection established command received, link disconnected command error link disconnect failed link is disconnected Function In data transparent mode, this command requests wireless disconnection from the remote modem. Example >@CON002 ↵
Example >@FRQ CR/LF : reference the current grouping method and frequency number : output current value (grouping method F: group number 00) @FRQ:E03 CR/LF : set grouping method to E (6 groups) and group number to 3.
If the group address (REG01) is designated while RS485 multi-drop connection is being made in the RS485 mode, the local station address of all modems will be initialized to 000. Exercise care when issuing this command. For a list of the factory default values, see the section titled p.27 MEMORY REGISTER DESCRIPTION. ODA Disable Received Data Output Syntax ODA{Local Station Address} Local Station Address : local station address for 485 mode (000 to A22).
This command enables serial data output after it has been disabled with the ODA command. When the modem’s power is turned on (or a reset), the modem is in the state to enable the received data output. Example >@ODA CR/LF @OEN CR/LF
RDA Disable Wireless Reception Syntax RDA{Local Station Address} Local Station Address : local station address for 485 mode (000 to A22). Response P0 N0 : command accepted : command error (Except 485 mode) Function Disables wireless reception in the packet transmission mode. The status when the modem is powered ON or reset follows bit 7 of REG22.
While rewriting the memory register, do not turn off the power until response is output. Otherwise, the memory registers content may be collapsed. When the response of the memory register write error is output, set the values after initializing the memory register. REN Reception Enable Syntax REN{Local Station Address} Local Station Address : local station address for 485 mode (000 to A22).
To use it more securely, it is recommended to readout the local serial ID code with TID command and pad it (either all or a part of it) in the transmitting packet. When no packet is received, “All Zero” is displayed as the result of this command execution. The serial ID code is no relation with ID code setting of REG04 and 05.
This function is used to save the current consumption when no transmit/receive are required. Example >@ROF CR/LF @RON CR/LF
Example >@RST CR/LF
XXXXXXXX Bit Name 0 1 2 3 4 5 6 7 Connection Reception Output message Receive buffer Transmit buffer Reserved Reserved Reserved Status 1 Connected Disabled Disabled Data exist Data exist - 0 Disconnected Enabled Enabled Data empty Data empty - Figure 6–2: Modem Status Bit Description Example >@STS CR/LF <00001010 CR/LF : read the current status : Received data exist, Output message enabled, Reseption disabled ,Disconnected.
TID Display Local Station Serial ID Syntax TID{Local Station Address} Local Station Address : local station address for 485 mode (000 to 999). Response XXXXXXXXXXXX : displays the local serial ID code (12 digits) N0 : command error (Except 485 mode) Function Readout the local serial ID code of the modem and display it. This command corresponds to RID command. The local serial ID code consists of 12 digits; upper three digits are 0 and the lower 9 digits are the product serial number of the modem.
For broadcasting messages to multiple modems, set the destination address to 255. In this case, the modem retransmits the message the number of times of the Retransmission count plus 1, and then it will return “P0”. In case the global addressing command is issued to plural modems connected by RS485 multi-dropping interface, the transmission stops when any modem outputs “P0”, “N2” or “N3” response to the RS485 line.
@TXT003MAIL CR/LF
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SECTION 7 Futaba Corporation 7 APPENDIX Rev.
7.1 Conversion Circuit Examples of the level conversion circuit are shown as a reference, which is just for the confirmation of system operation. This example does not guarantee the operation under users’ actual operation environment. 7.1.1 RS-232C Level Converter Wire the control line when necessary. Tie down unused input pin(s) to GND and leave the 485ENB pin open. Figure B–1: RS-232C Level Conversion Circuit 7.1.
7.1.3 RS485 Level Converter Wire the terminator of the RS485 bus (100 ohm), the input pull-up (1k ohm) and the input pull-down (1k ohm), when necessary. When long RS485 line is used or there is much noise, provide the surge absorber (e.g. Z2012 made by Ishizuka Denshi) according to the situation. Figure B–3: RS485 Level Conversion Circuit 7.
7.3 Specification 7.3.1 Radio Characteristics Engineering standard RF power output Modulation Communication scheme Frequency band Frequency channel Channel management Data barer rate Oscillation Antenna diversity Service area RF connector In/out of connector FCC Part 15.247 (no user license required) 6mW/MHz max. Direct sequence spread spectrum Single communication 2403.328 to 2480.
Shock resistance JIS-C-0041 (500m/s2) (JIS specification is Japanese Industry Standard) 7.3.6 Miscellaneous Memory register Case Outer dimensions Weight Rewritable times: approx. 1 million times Ni plated steel plate 30 (W)×50(D)×8(H)mm Aprox. 14g † Operating distances depend on the conditions such as obstructions and electrical interference. Under ideal, line-ofsight conditions, reliable operating distances greater than specified may be achieved.
7.4 Dimensions 7.4.1 FDL01TU 7.4.
Futaba Corporation Radio Control Equipment Group 1080 Yabutsuka Chosei Chiba, 299-4395 JAPAN Tel: +81 (475) 32-6173, Fax: 6179 Internet: www.futaba.co.jp +81(475) 32- In the United States Futaba Corporation of America Industrial Radio Control Department 1605 Penny Lane Schaumburg, IL 60173 Tel: (847) 884-1444, Fax: (847) 884-1635 Internet: www.futaba.com In the Europe Pending. Futaba Corporation Rev.
