RS-232 Communications Port

An RS-232 communications service port is provided in the J1 harness plug for

connection to a PC service tool. This connection is a typical three-wire RS-232

communication (Tx = J1-A1. Rx = J1-A2. Gnd = J1-A3), which is limited to 15 m

(50 feet). The port supports OPC protocol and has fixed communications settings

of 38.42 K baud rate, 8 data bits, no parity, and 1 stop bit. Refer to Chapter 7 for

details on the Service Tool.

CAN Communications Port

The driver has CAN communications, version 2.0B, with 29-bit identifiers. The

CAN port supports independent positioning (position demand from CAN) and

shutdown of each driver channel. It also supports driver diagnostic monitoring

and position demand feedback. Reading of CAN parameters is available

regardless of the configured Demand Source. The address and data rate

parameters are set using the Service Tool. The data rate may be chosen from

125 kbps, 250 kbps, and 500 kbps.