User guide

72 6000 Series Programmer's Guide
RS-232C Daisy-Chaining
Up to ninety-nine stand-alone 6000 Series products may be daisy-chained. There are two
methods of daisy-chaining: one uses a computer or terminal as the controller in the chain; the
other uses one 6000 product as the master controller. Refer to you product's Installation
Guide for daisy-chain connections.
Follow these steps to implement daisy-chaining:
Step 1
To enable and disable communications on a particular controller unit in the chain, you must
establish a unique device address using the unit's address DIP switches or the Daisy-chain
Address (ADDR) command.
DIP switches: Instructions for accessing and changing these DIP switch settings are
provided in your controller's Installation Guide. Device addresses set
with the DIP switches range from 0 to 7.
ADDR command: The ADDR command automatically configures unit addresses for daisy
chaining by disregarding the DIP switch setting. This command allows
up to 99 units on a daisy chain to be uniquely addressed.
Sending ADDRi to the first unit in the daisy chain sets its address to be
(i). The first unit in turn transmits ADDR(i + 1) to the next unit to
set its address to (i + 1). This continues down the daisy chain until
the last unit of (n) daisy-chained units has its address set to (i + n).
Setting ADDR to Ø re-enables the unit's daisy-chain address configured on
its internal DIP switch.
Note that a controller with the default device address of zero (0) will send an initial power-up
start message similar to the following:
*PARKER 6nnn MOTION CONTROLLER
*NO REMOTE PANEL
Step 2
Connect the daisy-chain with a terminal as the master (see diagram in the product's
Installation Guide).
It is necessary to have the error level set to 1 for all units on the daisy-chain (ERRLVL1).
When the error level is not set to 1, the controller sends ERROK or ERRBAD prompts after
each command, which makes daisy-chaining impossible. Send the ERRLVL1 command to
each unit in the chain. (NOTE: To send a the ERRLVL1 command to one specific unit on the
chain, prefix the command with the appropriate unit's device address and an underline.)
Commands:
1_ERRLVL1 ; Set error level to 1 for unit #1
2_ERRLVL1 ; Set error level to 1 for unit #2
3_ERRLVL1 ; Set error level to 1 for unit #3
After this has been accomplished, a carriage return sent from the terminal will not cause any
controller to send a prompt. Verify this. Instructions below (step 3) show how to set the
error level to 1 automatically on power-up by using the controller's power-up start program
(highly recommended).
After the error level for all units has been set to ERRLVL1, send a 6000 series command to all
units on the daisy-chain by entering that command from the master terminal.
Commands:
OUT1111 ; Turn on outputs #1 - #4 on all units
A50,50 ; Set acceleration to 50 for all axes (all units, both axes)
To send a 6000 series command to one particular unit on the chain, prefix the command with
the appropriate unit's device address and an underline:
Commands:
2_OUT0 ; Turn off output #1 on unit #2
4_OUT0 ; Turn off output #1 on unit #4