- Parker Compact Servo Controller User Guide

Operating Instructions
COMPAX-M / -S
RS232 interface
166
8.6.3.4 Binary data transfer using RS232
A series of commands can be transferred in the COMPAX internal binary format for
time-critical applications. This saves times as ASCII into COMPAX internal binary
format conversion is not required. You can still transfer data in the normal ASCII
format (mixed mode).
P20 = P20 + 16
Adds 16 to the required P20 setting (see interface parameters section in the User
Guide). This ensures that binary data transfer is available in addition to normal
transfer (ASCII).
P20="3": with XON, XOFF; no error response message; no binary data transfer.
P20="19": with XON, XOFF; no error response message; binary data transfer.
!
The end sign must not be transmitted!
!
The entire length of the binary format must always be transferred!
!
Function signs ("$" "," "?" "!") are not available when using binary transfer.
as ASCII transfer:
♦
without error: using "CR LF >".
♦
with error: depending on the value of P20
(refer to "Error transmission" in the User Guide).
Command Binary format (hexadecimal)
POSA value 88 41 xx xx xx xx xx xx
LSB MSB
POSR value
88 52 xx xx xx xx xx xx
LSB MSB
SPEED value
88 53 xx xx xx xx xx xx
LSB MSB
ACCEL
value
84 4C yy yy
MSB LSB
ACCEL- value
84 44 yy yy
MSB LSB
OUTPUT Oyy=0
85 4F yy yy 30
MSB LSB
OUTPUT Oyy=1
85 4F yy yy 31
MSB LSB
POSR value OUTPUT Oyy=0
8C 52 xx xx xx xx xx xx 4F yy yy 30
LSB MSB MSB LSB
POSR value OUTPUT Oyy=1
8C 52 xx xx xx xx xx xx 4F yy yy 31
LSB MSB MSB LSB
POSR value1 SPEED value2 8F 52 xx xx xx xx xx xx 53 xx xx xx xx xx xx
LSB MSB LSB MSB
Numerical formats of "xx xx xx xx xx xx" *
2
3 bytes after the decimal point, 3 bytes before the decimal point.
Valency:
2
-24
2
-23
... 2
-2
2
-1
, 2
0
2
1
2
2
... 2
22
2
23
Transmission sequence, e. g.: "88 41 LSB....MSB"
2 bytes before the decimal point.
no digits after the decimal point.
P20: switching on
binary data
transfer
Example:
COMPAX response
Meanings of the
binary command
codes
Numerical formats
Numerical formats
of "yy yy"