Bosch 6000 User's Guide download pdf (Page 88)

Chapter 2. Communication

To receive data from a particular controller on the chain, you must prefix the command with

the appropriate unit's device address and an underline:

Commands:

1_A ; Request acceleration information from unit #1

*A50,50 ; Response from unit #1

Use the E command to enable/disable RS-232C communications for an individual unit. If all

6000 controller units on the daisy chain are enabled, commands without a device address

identifier will be executed by all units. Because of the daisy-chain's serial nature, the

commands will be executed approximately 1 ms per character later on each successive unit in

the chain (assuming 9600 baud).

Units with the RS-232C disabled (EØ) will not respond to any commands, except E1;

however, characters are still echoed to the next device in the daisy chain.

Commands:

3_E0 ; Disable RS-232C on unit #3

VAR1=1 ; Set variable #1 to 1 on all other units

3_E1 ; Enable RS-232C on unit #3

3_VAR1=5 ; Set variable #1 to 5 on unit #3

Verify communication to all units by using the techniques described above.

Step 3

Now that communication is established, programming of the units can begin (alternatively,

units can be programmed individually by connecting the master terminal to one unit at a

time). To allow daisy-chaining between multiple controllers, the ERRLVL1 command must

be used to prevent units from sending error messages and command prompts. In every daisy-

chained unit, the ERRLVL1 command should be placed in the program that is defined as the

STARTP program:

Program:

DEF chain ; Begin definition of program chain

ERRLVL1 ; Set error level to 1

GOTO main ; Go to program main

END ; End definition of program chain

STARTP chain ; Designates program chain as the power-up program

To define program main for unit #0:

Program:

0_DEF main ; Begin definition of program main on unit #0

0_GO ; Start motion

0_END ; End definition of program main on unit #0

Step 4

After all programming is completed, program execution may be controlled by either a master

terminal, or by a 6000 Series controller used as a master.

Daisy-Chaining from a Computer or Terminal

Controlling the daisy-chain from a master computer or terminal follows the examples above:

Commands:

0_RUN main ; Run program main on unit #0

1_RUN main ; Run program main on unit #1

2_GO1 ; Start motion on unit #2 axis #1

3_2A ; Get A command response from unit #3 axis #2

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Bosch 6000 User's Guide Page 88

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