ICP DAS USA | I-7088 | User manual | ICP DAS USA I-7088 User Manual

ICP DAS USA I-7088 User Manual
I-7088
User Manual
I-7000 New Features
1. Internal Self Tuner
2. Multiple Baud Rates
3. Multiple Data Formats
4. Internal Dual WatchDog
5. True Distributed Control
6. High Speed & High
Density I/O
Your Powerful Tools
Create New Ideas
Create New Applications
Warranty
All products manufactured by ICP DAS are warranted against
defective materials for a period of one year from the date of
delivery to the original purchaser.
Warning
ICP DAS assume no liability for damages consequent to the
use of this product. ICP DAS reserves the right to change this
manual at any time without notice. The information furnished by
ICP DAS is believed to be accurate and reliable. However, no
responsibility is assumed by ICP DAS for its use, nor for any
infringements of patents or other rights of third parties resulting
from its use.
Copyright
Copyright 2010 by ICP DAS. All rights are reserved.
Trademark
Names are used for identification purposes only and may be
registered trademarks of their respective companies.
I-7088 User Manual, Rev: A1.0
1
Table of Contents
1.
Introduction............................................................. 4
1.1. Pin Assignment ................................................... 6
1.2. Specifications ...................................................... 7
1.3. Block Diagram..................................................... 8
1.4. Application Wiring ............................................... 9
1.5. Quick Start ........................................................ 10
1.6. Default Setting................................................... 11
1.7. Configuration Tables ......................................... 11
2.
DCON Protocol..................................................... 12
Checksum Calculation ............................................... 13
2.1. %AANNTTCCFF ............................................... 16
2.2. #AA ................................................................... 19
2.3. #AAN................................................................. 20
2.4. $AA2 ................................................................. 21
2.5. $AA3N............................................................... 23
2.6. $AA3N(Data)..................................................... 24
2.7. $AA5 ................................................................. 25
2.8. $AA5VV............................................................. 27
2.9. $AA6 ................................................................. 28
2.10. $AA6N............................................................... 29
2.11. $AA6NN ............................................................ 30
2.12. $AA7N............................................................... 31
2.13. $AAB ................................................................. 33
2.14. $AABR .............................................................. 34
2.15. $AACnD ............................................................ 35
2.16. $AACnD(Data) .................................................. 36
2.17. $AACnF............................................................. 37
2.18. $AACnF(Data)................................................... 39
2.19. $AACnM............................................................ 41
2.20. $AACnMS ......................................................... 43
2.21. $AACnP ............................................................ 45
2.22. $AACnP(Data) .................................................. 47
2.23. $AACnT............................................................. 49
2.24. $AACnTS .......................................................... 51
2.25. $AACnN ............................................................ 53
2.26. $AACnNS.......................................................... 55
2.27. $AAF ................................................................. 56
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2.28. $AAI .................................................................. 57
2.29. $AAM ................................................................ 58
2.30. $AAR................................................................. 59
2.31. $AAW ................................................................ 60
2.32. $AAYS............................................................... 61
2.33. @AADODD ....................................................... 62
2.34. @AADI .............................................................. 64
2.35. @AAGN ............................................................ 66
2.36. @AAPN(Data)................................................... 67
2.37. ~AAD................................................................. 68
2.38. ~AADVV............................................................ 70
2.39. ~AAO(Name) .................................................... 72
2.40. ~AARD .............................................................. 73
2.41. ~AARDTT.......................................................... 74
2.42. ~** ..................................................................... 75
2.43. ~AA0 ................................................................. 76
2.44. ~AA1 ................................................................. 78
2.45. ~AA2 ................................................................. 80
2.46. ~AA3ETT .......................................................... 82
2.47. ~AAI .................................................................. 84
2.48. ~AATnn ............................................................. 86
3.
Operations Principle & Application Notes............. 88
3.1 INIT* _pin Operation Principle .......................... 88
3.2 PWM Operation Principle.................................. 89
A.
Appendix............................................................... 91
A.1 INIT Mode............................................................ 91
A.2 Dual Watchdog Operation ................................... 93
A.3 Frame Ground ..................................................... 94
A.4 Node Information Area ........................................ 96
A.5 Reset Status ........................................................ 97
I-7088 User Manual, Rev: A1.0
3
1. Introduction
PWM (Continuous Mode)
I-7088
MCU
Software Trigger
PWM (Burst Mode)
DI / Hardware Trigger
The I-7088 has 8 PWM output channels and 8 counter inputs
and can be used to develop powerful and cost effective analog
control systems. PWM (Pulse width modulation) is a powerful
technique for controlling analog circuits that uses digital outputs
to generate a waveform with variant Duty Cycle (The fraction of
time that a system is in an "active" state) and frequency to control
analog circuits and can be used to control the position/speed of
motors, dim the brightness of lamps, control the speed of fans, etc.
The I-7088 will also automatically save the counter value to
EEPROM if the power supply is interrupted or lost. Refer to
Section 1.7 for details.
Features
Automatic hardware generation of PWM outputs without
software intervention
1Hz ~ 500KHz PWM output frequency with 0.1%~99.9%
duty cycle (Refer to Section 3.2)
Software and hardware trigger mode for PWM output
Individual and synchronous PWM output.
Using software trigger mode, you can set the configuration for
all PWM channels then trigger them individually or all of
them at the same time.
Burst mode PWM operation for standby
DI channel can be configured as either a simple digital input
channel or a hardware trigger source for the PWM output.
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I-7088 User Manual, Rev: A1.0
Applications
Controlling the position/speed of motors
Dimming the brightness of lamps
Controlling the speed of fans
More Information
Refer to chapter 1 of the “I-7000 Bus Converter User
Manual” for more information regarding the following:
1.1
1.2
1.3
1.4
1.5
I-7000 Overview
I-7000 Related Documentation
I-7000 Common Features
I-7000 System Network Configuration
I-7000 Dimensions
I-7088 User Manual, Rev: A1.0
5
1.1. Pin Assignments
6
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1.2. Specifications
PWM Output
Channels
Type
Max. Frequency
Duty Cycle
8
TTL, Isolated
500KHz
0.1%~99.9%
Burst mode,
Continuous mode
1~65535 counts
Hardware or
Software
4 kV Contact for each
terminal and 8 kV Air
for random point
2500 VDC
PWM Mode
Burst Mode Counter
Trigger Start
ESD Protection
Isolation
Digital Input
Channels
Type
ON Voltage Level
OFF Voltage Level
Max. Frequency
Max. Counts
Built-in Virtual Battery Backup for Counter Value
ESD Protection
Isolation
Interface
Interface
Format
Baud Rate
LED Display
1 LED as Power/Communication Indicator
Dimension
72mm x 122mm x 35mm (W x L x H)
Power
Input Voltage Range
Power Consumption
Power Reverse Polarity Protection
+/- 4 kV ESD , +/- 4 kV EFT and +/- 3 kV Surge
Protection
I-7088 User Manual, Rev: A1.0
8
Sink, Isolated
+2.4V~+5V
+1V Max.
1MHz
32-bits
(4,294,967,295)
Yes
4 kV Contact for each
terminal and 8 kV Air
for random point
2500 VDC
RS-485
N, 8, 1
1200 ~ 115200bps
10 ~ 30 VDC
2.4 W (max.)
Yes
Yes
7
Environment
Operating Temperature
Storage Temperature
Humidity
-25 ~ 75°C
-40 ~ 85°C
5 ~ 95%, non-condensing
1.3. Block Diagram
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1.4. Application Wiring
1.4.1.
PWM Wiring Connection
1.4.2.
DI/Counter Wiring Connection
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9
1.5. Quick Start
Refer to http://www.icpdas.com/download/7000/manual.htm
and use the “DCON Utility” to control the module. Otherwise,
use “DCON Utility -> Terminal -> Command Line” and follow
the commands shown below.
DI Status and Counter
1.
2.
3.
4.
5.
6.
7.
8.
Type @01DI[Enter]
Type $01500[Enter]
Type @01P200000000[Enter]
Type $0132FFFFFFFF[Enter]
Type $0162[Enter]
Type #012[Enter]
Type $01504[Enter]
Type #012[Enter]
Receive => !01xx01
Receive => !01
Receive => !01
Receive => !01
Receive => !01
Receive => >00000000
Receive => !01
Receive => >xxxxxxxx
Step 1: Read the DI status channel 0 = 1, channel 1 =0, etc.
Step 2: Disable the DI counter of channel 2
Step 3: Set the DI preset counter value (00000000) of channel
2
Step 4: Set the DI max. counter value (FFFFFFFF) of channel
2
Step 5: Reset the DI counter of channel 2
Step 6: Read the DI counter value (00000000) of channel 2
Step 7: Enable the DI counter of channel 2
Step 8: Read the DI counter value (xxxxxxxx) of channel 2
PWM Output
1. Type $01C0F100000[Enter]
2. Type $01C0D50.0[Enter]
3. Type $01C0M1[Enter]
4. Type @01DO01[Enter]
10
Receive => !01100000
Receive => !0150.0
Receive => !01
Receive => !01
Step 1: Set the frequency of PWM channel 0 to 100KHz
Step 2: Set the duty cycle of PWM channel 0 to 50.0%
Step 3: Set PWM channel 0 to continuous mode
Step 4: Start the output of PWM channel 0
I-7088 User Manual, Rev: A1.0
1.6. Default Settings
The default setting is given as following:
Address=01
Baud Rate=9600
Checksum disable
Data=1 Start+8 Data+1 Stop (no parity)
PWM Frequency=10KHz
PWM Duty Cycle=50%
PWM Steps=1 (Continuous Type)
1.7. Configuration Tables
Baud Rate Setting (CC)
Code
Baud Rate
Bits 7:6
00
01
10
11
03
1200
04
2400
05
4800
06
9600
07
19200
08
38400
09
57600
0A
115200
Description
No parity and one stop bit
No parity and two stop bits
Even parity and one stop bit
Odd parity and one stop bit
Configuration Code Table (TT)
TT
50
52
Input Range
Counter
Virtual Battery Backup
Note: For type 52, the count value will continue from the last
power off value.
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11
Data Format Setting (FF)
7
0
Key
CS
6
CS
5
4
3
2
Reserved
1
0
Description
Checksum setting
0: Disabled
1: Enabled
Note: Reserved bits should be zero.
2. DCON Protocol
All communication with I-7000 modules consists of
commands generated by the host and responses transmitted by the
I-7000 module. Each module has a unique ID number that is used
for addressing purposes and is stored in non-volatile memory. The
ID is 01 by default and can be changed using a user command.
All commands sent to a module contain the ID address, meaning
that only the addressed module will respond. The only exception
to this is command ~** (Section 2.42), which are sent to all
modules, but, in these cases, the modules do not reply to the
command.
Command Format:
Leading
Character
Module
Address
Command
[CHKSUM]
CR
Data
[CHKSUM]
CR
Response Format:
Leading
Character
CHKSUM
CR
12
Module
Address
A 2-character checksum that is present when the
checksum setting is enabled. See Sections 1.7 and
2.1 for details.
End of command character, carriage return (0x0D)
I-7088 User Manual, Rev: A1.0
Checksum Calculation
1. Calculate the ASCII code sum of all the characters in the
command/response string, except for the carriage return
character (CR).
2. The checksum is equal to the sum masked by 0ffh.
Example:
Command string: $012(CR)
1. The Sum of the string = “$”+”0”+”1”+”2” =
24h+30h+31h+32h = B7h
2. Therefore the checksum is B7h, and so the CHKSUM = “B7”
3. The command string with the checksum = $012B7(CR)
Response string: !01200600(CR)
1. The Sum of the string =
“!”+”0”+”1”+”2”+”0”+”0”+”6”+”0”+”0” =
21h+30h+31h+32h+30h+30h+36h+30h+30h = 1AAh
2. Therefore the checksum is AAh, and so the CHKSUM = “AA”
3. The response string with the checksum = !01200600AA(CR)
Note:
All characters should be in upper case.
I-7088 User Manual, Rev: A1.0
13
Command
General Command Sets
Response
Description
Sets the configuration of the
module
Reads the configuration of the
!AANNTTCCFF
module
Section
%AANNTTCCFF !AA
2.1
$AA2
2.4
$AA5
!AAS
Reads the module reset status
2.7
$AAF
!AA(Data)
Reads the firmware version
2.27
$AAI
!AAS
Reads the INIT status
2.28
$AAM
!AA(Data)
Reads the module name
2.29
~AAO(Name)
!AA
Sets the module name
2.39
~AARD
!AATT
Reads the response delay time
2.40
~AARDTT
!AA
Sets the response delay time
2.41
Command
PWM Command Sets
Response
Description
#AA
>(Data)
#AAN
>(Data)
$AA3N
Reads the count
Section
2.2
!AA
Reads the count of a specific
channel
Reads the max. counter value
2.5
$AA3N(data)
!AA
Sets the max. counter value
2.6
$AA5VV
!AA
Sets the counter status
2.8
$AA6
!AASS
Reads the counter status
2.9
$AA6N
!AA
$AA6NN
!AA
Resets the counter of a specific
channel
Resets the counter
$AA7N
!AAS
Reads the overflow status
2.12
$AAB
!AAS
Reads the power off count
2.13
$AABR
!AA
Clears the power off count
2.14
$AACnD
!AA(data)
Reads the duty cycle value
2.15
$AACnD(data)
!AA
Sets the duty cycle value
2.16
$AACnF
!AA(data)
Reads the frequency
2.17
$AACnF(data)
!AA
Sets the frequency
2.18
$AACnM
!AAS
Reads the status of continuous
mode
2.19
$AACnMS
!AA
Sets the continuous mode
2.20
$AACnP
!AA(data)
Reads the steps value
2.21
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2.3
2.10
2.11
$AACnP(data)
!AA
Sets the steps value
2.22
$AACnT
!AAS
Reads the trigger configuration
2.23
$AACnTS
!AA
Sets the trigger configuration
2.24
$AACnN
!AAS
Reads the PWM synchronization
2.25
$AACnNS
!AA
Sets the PWM synchronization
2.26
$AAR
!AA
Resets the PWM
2.30
$AAW
!AA
Saves the PWM configuration
2.31
$AAYS
!AA
Starts the PWM synchronization
2.32
@AADODD
@AADI
!AA
!AAOO
Sets the PWM status
Reads the DI/O status
2.33
2.34
@AAGn
!AA(data)
Reads the preset value
2.35
@AAPN(data)
!AA
Sets the preset value
2.36
~AAD
!AASS
Reads the miscellaneous
2.37
~AADVV
!AA
Sets the miscellaneous
2.38
Command
Host Watchdog Command Sets
Response
Description
Section
~**
No Response
The Host is OK
2.42
~AA0
~AA1
!AASS
!AA
2.43
2.44
~AA2
!AAETT
~AA3ETT
!AA
~AAI
~AATnn
!AA
!AA
Reads the host watchdog status
Resets the host watchdog status
Reads the host watchdog timeout
settings
Sets the host watchdog timeout
settings
Sets Soft INIT
Sets the Soft INIT timeout value
I-7088 User Manual, Rev: A1.0
2.45
2.46
2.47
2.48
15
I-7088
2.1. %AANNTTCCFF
Description:
This command is used to set the configuration of a module.
Syntax:
%AANNTTCCFF[CHKSUM](CR)
%
Delimiter character
AA
The address of the module to be configured in
hexadecimal format (00 to FF)
NN
The new address of the module in hexadecimal format
(00 to FF)
TT
The new type code, see Section 1.7 for details
CC
The new Baud Rate code, see Section 1.7 for details.
For the I-7088, the rear slide switch must be moved to
the INIT position in order to change Baud Rates. See
Section A.1 for details.
FF
The command used to set the data format, checksum,
and filter settings (Section 1.7). For the I-7088, the
rear slide switch must be moved to the INIT position
in order to change the checksum setting. See Section
A.1 for details.
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command: ?AA[CHKSUM](CR)
!
Delimiter for a valid command
?
Delimiter for an invalid command
(If the Baud Rate or checksum settings are changed
without switching the rear slide switch to the INIT
position, the module will return an invalid command.)
AA
The address of the module in hexadecimal format (00
to FF)
16
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I-7088
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: %0102500600
Response: !02
Changes the address of module 01 to 02 and the module
returns a valid response.
Command: %0202520600
Response: !02
Sets the type of module 02 to be 52 (Virtual Battery
Backup) and the module returns a valid response.
Command: %0202520A00
Response: ?02
Changes the Baud Rate of module 02 to 115200bps and
the module returns an invalid response, because it is not in
INIT mode.
Command: %0202520A00
Response: !01
Changes the Baud Rate of module 02 to 115200bps and
the module is in INIT mode. The module returns a valid
response.
Related Commands:
Section 2.4 $AA2, Section 2.47 ~AAI, Section 2.48 AATnn
Related Topics
Section 1.7 Configuration Tables, Section A.1 INIT pin Operation
Notes:
1. Changes to the address, type code and data format settings
take effect immediately after a valid command is received.
Changes to the Baud Rate and checksum settings take effect
on the next power-on reset.
2. For the I-7088, changing the Baud Rate and checksum
settings can only be achieved using software only and is
performed by using the following commands:
I. Send a ~AATnn command. See Section 2.48 for details.
II. Send a ~AAI command. See Section 2.47 for details.
III. Send a %AANNTTCCFF command.
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I-7088
If the command is valid, the Baud Rate and checksum
settings will be changed after the module responds with !AA.
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I-7088
2.2. #AA
Description:
This command is used to read the DI count.
Syntax:
#AA[CHKSUM](CR)
#
Delimiter character
AA
The address of the module to be read (00 to FF)
Response:
Valid Command:
>(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
>
Delimiter character for a valid command
?
Delimiter character for an invalid command
(Data)
Count data from all DI channels
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: #01 Response:
>0000000800000090000000A000000B000000C000000D000000
E0000000F
Reads module 01 and returns the count of DI channel 0 (8),
channel 1 (9), etc.
Related Commands:
Section 2.3 #AAN
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19
I-7088
2.3. #AAN
Description:
This command is used to read the count of a specific channel.
Syntax:
#AAN[CHKSUM](CR)
#
Delimiter character
AA
The address of the module to be read (00 to FF)
N
The channel to be read, zero based
Response:
Valid Command:
>(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
>
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
(Data)
The DI count of the specified channel
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: #032
Response: >00000008
Reads data from channel 2 of module 03.
Command: #029
Response: ?02
Reads data from channel 9 of module 02. An error is
returned because channel 9 is invalid.
Related Commands:
Section 2.2 #AA
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I-7088
2.4. $AA2
Description:
This command is used to read the configuration of a module.
Syntax:
$AA2[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
2
The command to read the module configuration
Response:
Valid Command:
!AATTCCFF[CHKSUM](CR)
Invalid Command: ?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
TT
The type code of the module, see Section 1.7 for
details
CC
The Baud Rate code of the module, see Section 1.7 for
details
FF
The data format, checksum settings and filter settings
of the module, see Section 1.7 for details
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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I-7088
Examples:
Command: $012
Response: !01500600
Reads the configuration of module 01.
Command: $022
Response: !02520600
Reads the configuration of module 02.
Related Commands:
Section 2.1 %AANNTTCCFF
Related Topics:
Section 1.7 Configuration Tables
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I-7088
2.5. $AA3N
Description:
This command is used to read maximum counter value.
Syntax:
$AA3N[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
3
The command to read the maximum counter value
N
The channel to be read, zero based
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
(Data)
8 hexadecimal digits (00000001 to FFFFFFFF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $030
Response: >FFFFFFFF
Reads the maximum counter value of counter 0at address 01,
return value 4294967295.
Related Commands:
Section 2.6 $AA3N(Data)
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23
I-7088
2.6. $AA3N(Data)
Description:
This command is used to set the maximum counter value.
Syntax:
$AA3N[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
3
The command to set the maximum counter value
N
The channel to be set, zero based
(Data)
8 hexadecimal digits (00000001 to FFFFFFFF)
Response:
Valid Command:
!AA [CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $030FFFFFFFF
Response: !03
Sets the maximum counter value of counter 0 at address 01
to 4294967295, and returns the command was successful.
Related Commands:
Section 2.5 $AA3N
24
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I-7088
2.7. $AA5
Description:
This command is used to read the reset status of a module.
Syntax:
$AA5[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
5
The command to read the reset status of the module
Response:
Valid Command:
!AAS[CHKSUM](CR)
Invalid Command: ?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
S
The reset status of the module
0: This is not the first time the command has been sent
since the module was powered on, which denotes
that there has been no module reset since the last
$AA5 command was sent.
1: This is the first time the command has been sent
since the module was powered on.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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25
I-7088
Examples:
Command: $015
Response: !011
Reads the reset status of module 01. The response shows
that it is the first time the $AA5 command has been sent
since the module was powered-on.
Command: $015
Response: !010
Reads the reset status of module 01. The response shows
that there has been no module reset since the last $AA5
command was sent.
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2.8. $AA5VV
Description:
This command is used to specify the channel number of the DI
counter to be enabled.
Syntax:
$AA5VV[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
5
The command to set the counter status
VV
A two-digit hexadecimal value, where bit 0
corresponds to channel 0, bit 1 corresponds channel 1,
and act. When the bit is 0, it means that the channel is
disabled and 1 means that the channel is enabled.
Response:
Valid Command:
!AA [CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $0153A
Response: !01
Enables the DI counter for channels 1, 3, 4 and 5, and
disables all other channels. The module returns a valid
response.
Related Commands:
Section 2.9 $AA6
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2.9. $AA6
Description:
This command is used to read the status of the DI counter.
Syntax:
$AA6[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
6
The command to read the status of the DI counter
Response:
Valid Command:
!AAVV[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
VV
A two-digit hexadecimal value, where bit 0
corresponds to channel 0, bit 1 corresponds channel 1,
etc. When the bit is 0, it means that the channel is
disabled, and 1 means that the channel is enabled.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $016
Response: !013A
Reads the channel status of module 01 and returns a
response of 3A, meaning that channels 1, 3, 4 and 5 are
enabled and all other channels are disabled.
Related Commands:
Section 2.8 $AA5VV
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2.10.
$AA6N
Description:
This command is used to reset the counter of a specific channel.
Syntax:
$AA6N[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
6
The command to reset the counter
N
Specifies the channel to be reset, zero based
Response:
Valid Command:
!AAVV[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $0160
Response: !01
Resets the counter 0 of module 01 to the preset value and
returns that the command was successful.
Related Commands:
Section 2.35 @AAGN, Section 2.36 @AAPN(Data)
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2.11.
$AA6NN
Description:
This command is used to reset the DI counter.
Syntax:
$AA6N[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
6
The command to reset the DI counter
NN
A two-digit hexadecimal value, where bit 0
corresponds to channel 0, bit 1 corresponds channel 1,
etc. When the bit is 0, it means that the channel is
inactive, and 1 means that the channel has been reset.
Response:
Valid Command:
!AAVV[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01601
Response: !01
Reset the counter 0 of module 01 to the preset value and
returns that the command was successful.
Related Commands:
Section 2.35 @AAGN, Section 2.36 @AAPN(Data), Section 2.9
$AA6
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2.12.
$AA7N
Description:
This command is used to read the status of the overflow flag.
Syntax:
$AA7N[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
7
The command to read the status of the overflow flag
N
Specifies the channel to be read, zero based
Response:
Valid Command:
!AAS[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect.)
AA
The address of the responding module (00 to FF)
S
The overflow flag of channel N
0: The counter has not exceeded the maximum counter
and the overflow flag has been cleared.
1: The counter has exceeded the maximum counter
value and the overflow flag has been set.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $0170
Response: !010
Reads the status of the overflow flag for counter 0 of
module 01 and returns that the counter has not been
exceeded.
Related Commands:
Section 2.5 $AA3N, Section 2.6 $AA3N(Data), Section 2.10
$AA6N, Section 2.11 $AA6NN
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2.13.
$AAB
Description:
This command is used to read the power down count.
Syntax:
$AAB[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
B
The command to read the power down count
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
(Data)
2 hexadecimal digits (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01B
Response: !0110
Reads the power down count of module 01 and returns a
value of 16.
Related Commands:
Section 2.14 $AABR
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2.14.
$AABR
Description:
This command is used to clear the power down count.
Syntax:
$AABR[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
BR
The command to clear the power down count
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01B
Response: !0110
Read the power down count of module 01 and returns a
value of 16.
Command: $01BR
Response: !01
Clear the power down count of module 01 and returns that
the command was successful.
Command: $01B
Response: !0100
Read the power down count of module 01 and returns that a
power down event has never happened.
Related Commands:
Section 2.13 $AAB
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2.15.
$AACnD
Description:
This command is used to read the duty cycle.
Syntax:
$AACnD[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
D
The command to read the duty cycle
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect.)
AA
The address of the responding module (00 to FF)
(Data)
The duty cycle of the specified channel (00.1 to 99.9)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01C0D
Response: !0150.0
Reads the duty cycle of PWM channel 0 and returns a value
of 50%.
Command: $01C1D
Response: !0133.3
Reads the duty cycle of PWM channel 1 and returns a value
of 33.3%.
Related Commands:
Section 2.16 $AACnD(Data)
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2.16.
$AACnD(Data)
Description:
This command is used to set the duty cycle.
Syntax:
$AACnD[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
D
The command to set the duty cycle
(Data)
The duty cycle of the specified channel (00.1 to 99.9)
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
(Data)
The actual duty cycle of the specified channel (00.1 to
99.9)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01C0D50.0
Response: !0150.0
Sets the duty cycle of PWM channel 0 to 50% and returns the
true output of 50%.
Command: $01C1D33.4
Response: !0133.3
Set the duty cycle of PWM channel 1 to 33.4% and returns
the true output of 33.3%.
Related Commands:
Section 2.15 $AACnD
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2.17.
$AACnF
Description:
This command is used to read the frequency.
Syntax:
$AACnF[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
F
The command to read the frequency
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect.)
AA
The address of the responding module (00 to FF)
(Data)
The actual frequency of the specified channel (000001
to 500000)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0F
Response: !01500000
Reads the frequency of PWM channel 0 and returns a value
of 500 KHz.
Command: $01C2F
Response: !01000001
Reads the frequency of PWM channel 2 and returns a value
of 1 Hz.
Related Commands:
Section 2.18 $AACnF(Data)
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2.18.
$AACnF(Data)
Description:
This command is used to set the frequency.
Syntax:
$AACnF(Data)[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
F
The command to set the frequency
(Data)
The frequency of the specified channel (000001 to
500000)
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
(Data)
The actual frequency of the specified channel (000001
to 500000)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0F 500000
Response: !01500000
Sets the frequency of PWM channel 0 to 500 KHz and
returns the actual frequency of 500 KHz. The duty cycle will
be set to 50.0% automatically.
Command: $01C2F340000 Response: !01333333
Sets the frequency of PWM channel 2 to 340 KHz and
returns the actual frequency of 333333 Hz. The duty cycle
will be set to 33.3% automatically.
Related Commands:
Section 2.17 $AACnF
Note:
After using the $AACnF(Data) command, the duty cycle value
will be reset to 50.0% automatically.
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2.19.
$AACnM
Description:
This command is used to read the continuous mode of a specified
channel.
Syntax:
$AACnM[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
M
The command to read the continuous mode
Response:
Valid Command:
!AAS[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
S
0: PWM continuous mode is disabled
1: PWM continuous mode is enabled
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0M
Response: !010
Reads PWM continuous mode of channel 0 and returns that it
is disabled.
Command: $01C1M
Response: !011
Reads PWM continuous mode of channel 1 and returns that
it is enabled.
Related Commands:
Section 2.20 $AACnMS, Section 2.21 $AACnP, Section 2.22
$AACnP(Data)
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2.20.
$AACnMS
Description:
This command is used to set the continuous mode of a specified
channel.
Syntax:
$AACnMS[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
M
The command to set continuous mode
S
0: Disables PWM continuous mode
1: Enables PWM continuous mode
(If the PWM continuous mode is enabled, the step
value for PWM will be set to 1 automatically)
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0M1
Response: !01
Sets the PWM continuous mode of channel 0 to enabled and
the PWM step value will be set to 1 automatically.
Command: $01C1M0
Response: !01
Sets the PWM continuous mode of channel 1 to disabled
and the PWM step value will not be affected.
Related Commands:
Section 2.19 $AACnM, Section 2.21 $AACnP, Section 2.22
$AACnP(Data)
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2.21.
$AACnP
Description:
This command is used to read the step value for a specified
channel.
Syntax:
$AACnP[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
P
The command to read the PWM step value
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
(Data)
PWM step value (0001 to FFFF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0P
Response: !01001A
Reads the PWM step value for channel 0 and returns a value
of 26 steps.
Command: $01C1P
Response: !011000
Reads the PWM step value for channel 1 and returns a value
of 4096 steps.
Related Commands:
Section 2.19 $AACnM, Section 2.20 $AACnMS, Section 2.22
$AACnP(Data)
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2.22.
$AACnP(Data)
Description:
This command is used to set the step value for a specified channel.
Syntax:
$AACnP(Data)[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
P
The command to set the PWM step value
(Data)
PWM steps (0001 to FFFF)
(When set to more than 1 step, the PWM continuous
mode will be set to disabled automatically)
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
Address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0P0001
Response: !01
Sets the PWM step value for channel 0 to 1.
Command: $01C1P001A
Response: !01
Sets the PWM step value for channel 1 to 4096 steps and the
PWM continuous mode of channel 1 will be set to disabled
automatically.
Related Commands:
Section 2.19 $AACnM, Section 2.20 $AACnMS, Section 2.21
$AACnP
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2.23.
$AACnT
Description:
This command is used to read the status of the PWM hardware
trigger of a specified channel.
Syntax:
$AACnT[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
T
The command to read the PWM hardware trigger
Response:
Valid Command:
!AAS[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
S
0: The hardware trigger is disabled
1: The trigger start is enabled
2: The trigger stop is enabled
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0T
Response: !011
Reads the status of the PWM channel 0 hardware trigger and
returns that the PWM channel 0 trigger will start when the
rising edge of the DI is received.
Command: $01C1T
Response: !010
Reads the status of the PWM channel 1 hardware trigger
and returns the PWM channel 1 will not be affected when
the rising edge of the DI is received.
Related Commands:
Section 2.24 $AACnTS
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2.24.
$AACnTS
Description:
This command is used to set the hardware trigger of a specified
channel.
Syntax:
$AACnTS[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
T
The command to set PWM hardware trigger
S
0: Disables the hardware trigger
1: Enables the trigger start
2: Enables the trigger stop
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0T2
Response: !01
Sets the status of the PWM channel 0 hardware trigger to
trigger stop. When the rising edge of the DI is received, the
status of the PWM will be set to trigger stop.
Command: $01C1T 0
Response: !010
Sets the status of the PWM channel 1 hardware trigger to
disabled. The PWM will not be affect when the rising edge
of the DI is received.
Related Commands:
Section 2.23 $AACnT
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2.25.
$AACnN
Description:
This is command is used to read the synchronization status of a
specified channel.
Syntax:
$AACnN[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
Cn
n specifies the channel to be read
N
The command to read PWM synchronization status
Response:
Valid Command:
!AAS[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
S
0: Synchronization disabled
1: Synchronization enabled
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01C0N
Response: !011
Reads the PWM channel 0 synchronization status and returns
that it is enabled.
Command: $01C1N
Response: !010
Reads the PWM channel 1 synchronization status and return
that it is disabled.
Related Commands:
Section 2.26 $AACnNS, Section 2.32 $AAYS
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2.26.
$AACnNS
Description:
This command is used to set the synchronization status of a
specified channel.
Syntax:
$AACnN[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be set (00 to FF)
Cn
n specifies the channel to be set
N
The command to set PWM synchronized
S
0: Disables synchronization
1: Enables synchronization
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01C0N1
Response: !01
Sets the PWM channel 0 synchronization status to enabled.
Command: $01C1N0
Response: !01
Sets the PWM channel 1 synchronization status to disabled.
Related Commands:
Section 2.25 $AACnN, Section 2.32 $AAYS
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2.27.
$AAF
Description:
This command is used to read the firmware version of a module.
Syntax:
$AAF[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
F
The command to read the firmware version
Response:
Valid command:
!AA(Data)[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
(Data)
The firmware version of the module as a string value
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01F
Response: !01A2.0
Reads the firmware version of module 01, and shows that
it is version A2.0.
Command: $02F
Response: !02B1.1
Reads the firmware version of module 02, and shows that
it is version B1.1.
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2.28.
$AAI
Description:
This command is used to read the INIT status of a module.
Syntax:
$AAI[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
I
The command to read the INIT status of the module
Response:
Valid command:
!AAS[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
S
0: The INIT switch is in the INIT position
1: The INIT switch is in the Normal position
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01I
Response: !010
Reads the status of the INIT switch of module 01. The
response shows that the INIT switch is in the INIT position.
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2.29.
$AAM
Description:
This command is used to read the name of a module.
Syntax:
$AAM[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be read (00 to FF)
M
The command to read the module name
Response:
Valid command:
!AA(Data)[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
(Name) The name of the module as string value
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01M
Response: !017088
Reads the name of module 01 and returns the name “7088”.
Related Commands:
Section 2.39 ~AAO(Name)
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2.30.
$AAR
Description:
This command is used to reset the PWM.
Syntax:
$AAR[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be reset (00 to FF)
R
The command to reset the PWM
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01R
Response: !01
Resets the PWM and stops all of the outputs.
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2.31.
$AAW
Description:
This command is used to save the PWM configuration.
Syntax:
$AAW[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be accessed (00 to FF)
W
The command to save the PWM configuration
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01W
Response: !01
Saves the PWM configuration for all channels into EEPROM.
After the next power on, the PWM configuration will
automatically load from the EEPROM without giving any
notification.
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2.32.
$AAYS
Description:
This command is used to start the synchronization.
Syntax:
$AAYS[CHKSUM](CR)
$
Delimiter character
AA
The address of the module to be accessed (00 to FF)
Y
The command to set the PWM synchronization
S
0: Stop synchronization
1: Start synchronization
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: $01Y1
Response: !01
Starts the PWM output that has been set to synchronized.
Command: $01Y0
Response: !01
Stops the PWM output that has been set synchronized.
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2.33.
@AADODD
Description:
This command is used to set the status of the PWM.
Syntax:
@AADODD[CHKSUM](CR)
@
Delimiter character
AA
The address of the module to be set (00 to FF)
DO
The command to set PWM output
DD
A two-digit hexadecimal value, where bit 0
corresponds to channel 0, bit 1 corresponds to channel
1, etc. When the bit is 0, it denotes that the PWM
output port is off, and 1 denotes that the PWM output
port is on.
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: @01DO33
Response: !01
Sets channel 0 to on, channel 1 to on, channel 2 to off,
channel 3 to off, channel 4 to on, and channel 5 to on, and
the module returns a valid response.
Related Commands:
Section 2.34 @AADI
Note:
1. When a host watchdog timeout occurs, the module will return
an invalid response for this command and the PWM value that
was sent is ignored.
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2.34.
@AADI
Description:
This command is used to read the status of the PWM and digital
input.
Syntax:
@AADI[CHKSUM](CR)
@
Delimiter character
AA
The address of the module to be read (00 to FF)
DI
The command to read the status of the PWM and
digital input
Response:
Valid Command:
!AAOOII[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
OO
A two-digit hexadecimal value, where bit 0
corresponds to PWM channel 0, bit 1 corresponds to
PWM channel 1, etc. When the bit is 0 it means that
the PWM is in active and 1 means that the PWM is
active.
II
A two-digit hexadecimal value, where bit 0
corresponds to DI channel 0, bit 1 corresponds to DI
channel 1, etc. When the bit is 0 it means that the DI is
in active and 1 means that the DI is active.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: @01DI
Response: !0101F0
Reads the status of the PWM and DI and returns that PWM
channel 0 is active and the others are inactive. DI channels 4,
5, 6 and 7 are active and the others are inactive.
Related Commands:
Section 2.33 @AADODD, Section2.37 ~AAD, Section 2.38
~AADVV
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2.35.
@AAGN
Description:
This command is used to read the preset value of a specified
channel.
Syntax:
@AAGN[CHKSUM](CR)
@
Delimiter character
AA
The address of the module to be read (00 to FF)
G
The command to read the preset value of the DI
counter
N
Specifies the channel to be read, zero based
Response:
Valid Command:
!AA(Data)[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
(An invalid command is returned if the specified
channel is incorrect)
AA
The address of the responding module (00 to FF)
(Data)
8 hexadecimal digits (00000000 to FFFFFFFE)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: @01G0
Response: !0100000000
Reads the preset count value for counter 0 of module 01 and
returns that the preset value is 0.
Related Commands:
Section 2.36 @AAPN(Data)
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2.36.
@AAPN(Data)
Description:
This command is used to set the preset value of specified channel.
Syntax:
@AAPN(Data)[CHKSUM](CR)
@
Delimiter character
AA
The address of the module to be set (00 to FF)
P
The command to set the preset value of the DI counter
N
Specifies the channel to be set, zero based.
(Data)
8 hexadecimal digits (00000000 to FFFFFFFE)
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: @01P000000000
Response: !01
Sets the preset count value for counter 0 of module 01 to 0
and returns that the command was successful.
Related Commands:
Section 2.35 @AAGN
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2.37.
~AAD
Description:
This command is used to read the miscellaneous settings.
Syntax:
~AAD[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be read (00 to FF)
D
The command to read the miscellaneous settings
Response:
Valid Command:
!AAVV[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
VV
A two-digit hexadecimal value, where bit 0
corresponds to the active status of the DI as indicated
below.
The other bits are reserved.
0: Input value 1 for non-signal or low voltage
Input value 0 for high voltage
1: Input value 1 for high voltage
Input value 0 for non-signal or low voltage
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01D
Response: !0101
Reads the miscellaneous settings of module 01 and returns
01.
Related Commands:
Section 2.38 ~AADVV
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2.38.
~AADVV
Description:
This command is used to set the miscellaneous settings.
Syntax:
~AADVV[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
D
The command to set the miscellaneous settings
VV
A two-digit hexadecimal value, where bit 0
corresponds to the active status of the DI as indicated
below.
The other bits are reserved.
0: Input value 1 for non-signal or low voltage
Input value 0 for high voltage
1: Input value 1 for high voltage
Input value 0 for non-signal or low voltage
Response:
Valid Command:
!AAVV[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: $01D01
Response: !01
Sets the miscellaneous settings of module 01 and returns a
valid response.
Related Commands:
Section 2.37 ~AAD
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2.39.
~AAO(Name)
Description:
This command is used to set the name of a module.
Syntax:
~AAO(Name)[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
O
The command to set the name of the module
(Name) The new name of the module (max. 6 characters)
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: ~01O7088
Response: !01
Sets the name of module 01 to “7088” and returns a valid
response.
Command: $01M
Response: !017088
Reads the name of module 01 and returns the name “7088”.
Related Commands:
Section 2.29 $AAM
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2.40.
~AARD
Description:
This command is used to read the response delay time.
Syntax:
~AARD[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be read (00 to FF)
RD
The command to read the response time
Response:
Valid Command:
!AATT[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
TT
Two hexadecimal digits to represent the response time
value in milliseconds. The value must be less than or
equal to 1E. For example, 01 denotes 1 millisecond
and 1A denotes 26 milliseconds.
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: ~01RD10 Response: !01
Sets the response time to 16 milliseconds.
Command: ~01RD
Response: !0110
Reads the response time is 16 milliseconds and the response
will be sent after 16 milliseconds have elapsed.
Related Commands:
Section 2.41 ~AARDTT
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2.41.
~AARDTT
Description:
This command is used to set the response delay time.
Syntax:
~AARDTT[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
RD
The command to set response time
TT
Two hexadecimal digits to represent the response time
value in milliseconds. The value must be less than or
equal to 1E. For example, 01 denotes 1 millisecond
and 1A denotes 26 milliseconds.
Response:
Valid Command:
!AA[CHKSUM](CR)
Invalid Command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: ~01RD10 Response: !01
Sets response time to 16 milliseconds.
Command: ~01RD
Response: !0110
Reads that the response time is 16 milliseconds and the
response will be sent after 16 milliseconds have elapsed.
Related Commands:
Section 2.40 ~AARD
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2.42.
~**
Description:
This command is used to inform all modules that the host is OK.
Syntax:
~**[CHKSUM](CR)
~
Delimiter character
**
Host OK command
Response:
No response.
Examples:
Command: ~**
No response
Sends a “Host OK” command to all modules.
Related Commands:
Section 2.43 ~AA0, Section 2.44 ~AA1, Section 2.45 ~AA2,
Section 2.46 ~AA3ETT
Related Topics:
Section A.2 Dual Watchdog Operation
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2.43.
~AA0
Description:
This command is used to read the status of a module’s host
watchdog.
Syntax:
~AA0[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be read (00 to FF)
0
The command to read the module status
Response:
Valid command:
!AASS[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
SS
Two hexadecimal digits that represent the host
watchdog status, where:
Bit 2: 0 indicates that no host watchdog timeout has
occurred, and 1 indicates that a host watchdog
timeout has occurred.
Bit 7: 0 indicates that the host watchdog is disabled,
and 1 indicates that the host watchdog is enabled,
The status of the host watchdog is stored in EEPROM
and can only be reset by using the ~AA1 command.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: ~010
Response: !0100
Reads the status of the host watchdog of module 01 and
returns 00, meaning that the host watchdog is disabled and
no host watchdog timeout has occurred.
Command: ~020
Response: !0204
Reads the status of the host watchdog of module 02 and
returns 04, meaning that a host watchdog timeout has
occurred.
Related Commands:
Section 2.42 ~**, Section 2.44 ~AA1, Section 2.45 ~AA2, Sec
2.46 ~AA3ETT
Related Topics:
Section A.2 Dual Watchdog Operation
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2.44.
~AA1
Description:
This command is used to reset the timeout status of a module’s
host watchdog.
Syntax:
~AA1[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be reset (00 to FF)
1
The command to reset the host watchdog timeout
status
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
Examples:
Command: ~010
Response: !0104
Reads the status of the host watchdog of module 01 and
shows that a host watchdog timeout has occurred.
Command: ~011
Response: !01
Resets the timeout status of the host watchdog of module 01
and returns a valid response.
Command: ~010
Response: !0100
Reads the status of the host watchdog of module 01 and
shows that no host watchdog timeout has occurred.
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Related Commands:
Section 2.42 ~**, Section 2.43 ~AA0, Section 2.45~AA2, Section
2.46~AA3ETT
Related Topics:
Section A.2 Dual Watchdog Operation
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2.45.
~AA2
Description:
This command is used to read the timeout value of a module’s
host watchdog.
Syntax:
~AA2[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be read (00 to FF)
2
The command to read the host watchdog timeout value
Response:
Valid command:
!AAETT[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
E
0: the host watchdog is disabled
1: the host watchdog is enabled
TT
Two hexadecimal digits to represent the timeout value
in tenths of a second, for example, 01 denotes 0.1
seconds and FF denotes 25.5 seconds.
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: ~012
Response: !011FF
Reads the host watchdog timeout value of module 01 and
returns FF, which denotes that the host watchdog is enabled
and the host watchdog timeout value is 25.5 seconds.
Related Commands:
Section 2.42 ~**, Section 2.43 ~AA0, Section 2.44 ~AA1,
Section 2.46 ~AA3ETT
Related Topics:
Section A.2 Dual Watchdog Operation
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2.46.
~AA3ETT
Description:
This command is used to enable/disable the host watchdog and set
the host watchdog timeout value of a module.
Syntax:
~AA3ETT[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
3
The command to set the host watchdog
E
0: Disable the host watchdog
1: Enable the host watchdog
TT
Two hexadecimal digits to represent the timeout value
in tenths of a second, for example, 01 denotes 0.1
seconds and FF denotes 25.5 seconds.
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: ~013164
Response: !01
Enables the host watchdog of module 01 and sets the host
watchdog timeout value to 10.0 seconds. The module
returns a valid response.
Command: ~012
Response: !01164
Reads the host watchdog timeout value of module 01. The
module returns 164, which denotes that the host watchdog is
enabled and the host watchdog timeout value is 10.0
seconds.
Related Commands:
Section 2.42 ~**, Section 2.43 ~AA0, Section 2.44 ~AA1,
Section 2.45 ~AA2
Related Topics:
Section A.2 Dual Watchdog Operation
Note:
When a host watchdog timeout occurs, the host watchdog is
disabled and all of the PWM outputs are stopped. The
~AA3EVV command should be sent again to enable the host
watchdog.
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2.47.
~AAI
Description:
This command is the software INIT command and is used to
enable modification of the Baud Rate and checksum settings
using software only.
Syntax:
~AAI[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
I
The command to set the software INIT
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: ~01I
Response: !01
Sets the software INIT of module 01 and returns a valid
response.
Related Commands:
Section 2.1 %AANNTTCCFF, Section 2.48 ~AATnn
Related Topics:
Section A.1 INIT Mode
Note:
The ~AATnn command should be sent prior to sending this
command, see Section 2.48 for details.
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2.48.
~AATnn
Description:
This command is used to set the software INIT timeout value.
Syntax:
~AATnn[CHKSUM](CR)
~
Delimiter character
AA
The address of the module to be set (00 to FF)
T
The command to set the software INIT timeout value.
nn
Two hexadecimal digits representing the timeout value
in seconds. The max timeout value is 60 seconds.
When changing the Baud Rate and checksum settings
without altering the position of the INIT* pin, the
~AAI and %AANNTTCCFF commands should be
sent consecutively and the time interval between the
two commands should be less than the software INIT
timeout value. If the software INIT timeout value is 0,
then the Baud Rate and checksum settings cannot be
changed using software only. The power on reset
value of the Software INIT timeout is 0.
Response:
Valid command:
!AA[CHKSUM](CR)
Invalid command:
?AA[CHKSUM](CR)
!
Delimiter character for a valid command
?
Delimiter character for an invalid command
AA
The address of the responding module (00 to FF)
There will be no response if the command syntax is incorrect,
there is a communication error, or there is no module with the
specified address.
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Examples:
Command: ~01I
Response: !01
Sets the software INIT of module 01 and returns a valid
response.
Command:%0101500700
Response:?01
Attempts to change the Baud Rate of module 01 to 19200
without first altering the position of the INIT* pin. The
module returns an invalid response because the software
INIT timeout value is 0.
Command:~01T10
Response:!01
Sets the software INIT timeout value of module 01 to 16
seconds and returns a valid response.
Command:~01I
Response:!01
Sets the software INIT of module 01 and returns a valid
response.
Command:%0101500700
Response:!01
Attempts to change the Baud Rate of module 01 to 19200
without first altering the position of the INIT* pin. The
module returns a valid response.
Related Commands:
Section 2.1 %AANNTTCCFF, Section 2.47 ~AAI
Related Topics:
Section A.1 INIT Mode
Note:
It is recommended that the software INIT timeout value is reset to
0 once any changes to the Baud Rate and checksum settings have
been completed.
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3. Operation Principles & Application
Notes
3.1 INIT* _pin Operation Principles
All I-7000 modules contain an EEPROM that can be used to
store configuration information. Consequently, it is difficult for
the user to determine the status of the I-7000 module. If the
INIT*_pin is connected to the GND_pin while powering on the
module, the modules will enter the factory default settings
without changing the EEPROM data. The factory default settings
are as follows:
Address
Baud Rate
Checksum
Data Format
= 00
= 9600
= Disabled
= 1 Start + 8 Data + 1 stop
If the INIT*_pin is disconnected from the GND_pin, the I7000 module will be automatically configured according to the
EEPROM data. It is easy to determine the EEPROM
configuration data in the default settings using the following steps:
Step 1: power off of the module and connect the INIT*_pin to the
GND_pin
Step 2: power on the module
Step 3: send the command string $002[0x0D] to the module. The
module will respond with the EEPROM data.
Step 4: record the EEPROM data for this I-7000 module
Step 5: power off the module and disconnect the INIT*_pin and
from GND_pin
Step 6: power on the module
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3.2 PWM Operation Principle
1. The PWM output modules will be turned OFF after
first power on.
2. If the host watchdog is active, the PWM output
modules will stop automatically and cannot be restarted. The module status is set to 04. If the host
computer then sends the “@AADO” command to those
modules, the command will be ignored and “?” will be
sent in response as warning information. The host can
use the “~AA1” command to clear the module status to
0 and then the module will accept the “@AADO”
command again.
3. The PWM configuration will be loaded from EEPROM
after the first power on.
4. After modifying the PWM configuration, use the
“$AAW” command to save all PWM configurations
into EEPROM for the next power on.
5. The limit of the frequency and the duty cycle.
Amplitude
Duty Cycle = (100 * X ) / Y %
Frequency = 1 / Y Hz
The Lowest unit of X = 1us
The Lowest unit of Y = 2us
Time
0
X
Y
(1) The frequency is set to 1HZ ~ 1000Hz, the duty
cycle can be set to 00.1% ~ 99.9%.
(2) The frequency is set to 1001Hz ~ 10000Hz, the duty
cycle can be set to 01% ~ 99%.
(3) Otherwise, the frequency and the duty cycle is not
complete.
Examples:The frequency 500000Hz (Support the
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duty cycle 50% only)
The frequency 333333Hz (Support the
duty cycle 33.3% and 66.6% only)
The frequency 400000Hz (Modify the
frequency to be 333333Hz and support
the duty cycle 33.3% and 66.6% only)
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Appendix
A.1 INIT Mode
Each I-7000 and M-7000 module has a built-in EEPROM
that can be used to store configuration information such as
module address, type code, Baud Rate, etc. Occasionally,
the configuration of a module may be forgotten and there
are no visual indications of the configuration of the
module. It is difficult to communicate with the module
when the configuration of the module is unknown. To
help avoid this problem, the I-7000 and M-7000 series has
a special mode called “INIT mode”. When the module is
powered on in “INIT mode” the configuration of the
module is reset as follows, allowing it to be operated as
normal.
1.
2.
3.
4.
Address: 00
Baud Rate: 9600 bps
No checksum
Protocol: DCON
The configuration information stored in the EEPROM is
not changed and can be read by sending the $002(CR)
command at 9600bps.
There are other commands that require the module to be in
INIT mode. They are:
1. %AANNTTCCFF, which is used when changing the
Baud Rate and checksum settings. See Section 2.1 for
details.
2. $AAPN, see Section 2.20 for details.
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Originally, INIT mode was accessed by connecting the
INIT* terminal to the GND terminal. New I-7000 and M7000 modules have the INIT switch located on the rear of
the module to allow easier access to INIT mode. For these
modules, INIT mode is accessed by sliding the INIT
switch to the Init position, as shown below.
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A.2 Dual Watchdog Operation
Dual Watchdog = Module Watchdog + Host Watchdog
The Module Watchdog is a hardware reset circuit that
monitors the operating status of the module. While
working in harsh or noisy environments, the module may
be shut down by external signals. The reset circuit allows
the module to work continuously without disruption.
The Host Watchdog is a software function that monitors
the operating status of the host. Its purpose is to prevent
problems due to network/communication errors or host
malfunctions. When a host watchdog timeout occurs, the
module will reset all outputs to a safe state in order to
prevent any erroneous operations of the controlled target.
I-7000 and M-7000 series modules include an internal
Dual Watchdog, making the control system more reliable
and stable.
For more information regarding the Dual Watchdog,
please refer to Chapter 5 of the “Getting Started For I7000 Series Modules” manual that can be downloaded
from the ICP DAS website http://www.icpdas.com.
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A.3 Frame Ground
Electronic circuits are constantly vulnerable to ElectroStatic Discharge (ESD), which become worse in a
continental climate area. Some I-7000 and M-7000
modules feature a new design for the frame ground, which
provides a path for bypassing ESD, allowing enhanced
static protection (ESD) capability and ensures that the
module is more reliable.
Either of the following options will provide a better
protection for the module:
1. If the module is DIN-rail mounted, connect the DIN
rail to the earth ground. This is because the DIN-rail is
in contact with the upper frame ground, as shown in
the figure below.
2. Alternatively, connect the lower frame ground terminal
to a wire and connect the wire to the earth ground, as
shown in the figure below.
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New DIN-rail models are available that can easily be
connected to the earth ground. Each rail is made of
stainless steel, which is stronger than those made of
aluminum. There is a screw at one end and a ring terminal
is included, as shown in the figure below. Refer to
Section 1.12.1 for more information about the new DINrail models.
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A.4 Node Information Area
Each I-7000 and M-7000 module has a built-in EEPROM
to store configuration information such as module address,
type code, Baud Rate, etc. One minor drawback is that
there are no visual indications of the configuration of the
module. New I-7000 and M-7000 modules include node
information areas that are protected by a cover, as shown
below, and can be used to make a written record of the
node information, such as module address, Baud Rate, etc.
To access the node information areas, first slide the covers
outward, as shown in the figure below.
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A.5 Reset Status
The reset status of a module is set when the module is
powered-on or when the module is reset by the Module
Watchdog, and is cleared after the responding to the first
$AA5 command. This can be used to check whether the
module has recently been reset. When the $AA5
command responds that the reset status has been cleared, it
means that the module has not been reset since the last
$AA5 command was sent. When the $AA5 command
responds that the reset status is set and it is not the first
time an $AA5 command has been sent, it means that the
module has been reset and the digital output value has
been changed to the power-on value.
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