Specifications

Chapter 2 Functions

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An example of signal transmission

The following is an example of the multi-turn count: 8, single-turn encoder count: 25 and an incremental

pulse train at a usual operation.

The actual resolvable position of the encoder (motor) can obtained by the calculation of:

multi-turn count x 8192 + single turn encoder count

(b) Acquiring from CN3 port (RS -232C)

Connecter specifications

Connect an RS-232C cable having following specifications between the CN3 port of the HA-655 driver

and a RS-232C port of a host device.

Connecters: D-sub connecter having 9 female pins

Pin assignments:

Communication format (RS-232C port setting)

Baud rate: 19200 bps

Data bits: 8 bit

Stop bits: 1 bit

Parity: None

Communication protocol

Sending a command to HA-655 driver (host →HA-655)

The command should be 10 characters in length including a delimiter as illustrated below. The

HA-655 driver waits until receiving 10 characters without any processing. Make sure that the

message has 10 characters including a delimiter.

Phase-Z

90 ms (max.)

Multi

turn count: +8

Single-turn count: +25

Incremental

pulse train

Phase-A

Phase-B

RXD

TXD

DTR

GND

DSR

Driver side

Host side

XXX+ YYYYY Cr(delimiter: 0Dh)

Motion command (4 characters)

Additional data (5 characters with a sign)

Attach on the last of command (1 character)

Not

“

”

means zero.