Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 q 2 and 3 axis models q ± ± q q q q Up to 2 stick pushbuttons q Description: q Member of Logosol’s distributed motion control network -731 is a multifunctional joystick controller designed for a wide range of applications. q Communication speed 19.2 ÷ 115.2 Kbps This controller is a member of Logosol’s distributed motion control network (LDCN). Up q Command rate up to 1000/sec to 31 LDCN compatible nodes can be controlled over a multi-drop full duplex RS- network. Standard RJ-45 connectors and q Small footprint (4.35” x 4.00” x 4.90”) commercially available cables are used to connect modules into a network. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 0974 Sunnyvale, CA 94089 Tel: (408) 744 DIMENSIONAL DRAWING 485 LS 8 LEDs 3 pushbuttons Mechanical MTBF 15,000,000 cycles all effect joystickNon contact h 20 degTravel Features 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 o rated at 25C ambient WER SUPPLY VOLTAGE 4.75 to 5.25 V DC WER CONSUMPTION <50 mA LS-731- 2 LS-731- 3 8 bits 3 (Button1, Button2, Button3) LS-731- LS-731- 1 (Button4) LS-731- 2 (Buton2, Button4) LEDS 8 o Storage temperature range –30 to +85C o Operating temperature range 0 to 45C Size L=4.35”, H=4.00”, D=4.90” Weight 0.6 lb. (0.260 kg) Power Supply and communication 8 pin RJ-45 MODEL 912731001 LS-731-20 Joystick Node 2 axis, no stick pushbuttons 912731002 LS-731-21 Joystick Node 2 axis, 1 stick pushbutton 912731003 LS-731-30 Joystick Node 3 axis, no stick pushbuttons 912731004 LS-731-32 Joystick Node 3 axis, 2 stickpushbuttons Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 2 0974 Sunnyvale, CA 94089 Tel: (408) 744 CONNECTORS AND PINOUT DESCRIPTIONPART NUMBER ORDERING GUIDE MATING CONNECTORS MECHANICAL THERMAL REQUIREMENTS x2 x1 NAx0 STICK PUSHBUTTONS PUSHBUTTONS AXES RESOLUTION 3x 2x NUMBER OF AXIS PO PO TECHNICAL SPECIFICATIONS 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 D SW DESCRIPTION SW 1 Power supply source select 1 SW 2 Power supply source select 2 DESCRIPTION +5V slave +5V power supply from slave (SW 1=on), Not connected (SW 1=off) 1 Interface ground 2 (+) Transmit data 3 - (-) Transmit data 4 - (-) Receive data 5 (+) Receive data 6 -A out (-) Address output 7 +A out (+) Address output 8 DESCRIPTION +5V +5V when SW 1=on, Not connected when SW 1=off 1 Interface ground 2 (+) Transmit data 3 - (-) Transmit data 4 - (-) Receive data 5 (+) Receive data 6 +5V host +5V Power supply from host (SW 2=on and SW 1=off) 7 +A in (+) Address input 8 Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 3 0974 Sunnyvale, CA 94089 Tel: (408) 744 +RX RX TX +TX GND PIN SIGNAL HOST +RX RX TX +TX GND SIGNALPIN SLAVE SIGNAL IP SWITCH 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 for networking with other LDCN nodes. -731 is powered from the network node (LS-- connector. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 4 0974 Sunnyvale, CA 94089 Tel: (408) 744 B as shown) connected to its slave 173LS SAMPLE APPLICATION 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 with Master Controller LS- -731 is powered from the host (- Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 5 0974 Sunnyvale, CA 94089 Tel: (408) 744 980 as shown).LSLS 980SAMPLE APPLICATION 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 LOGOSOL LS- Hardware Setup - Software Installation Installation and using Logosol Distributed Control Network Utility Insert the Lo Select Run from the Windows 95/98/NT Start menu. Type a:\dcnsetup and then click OK (a: represents the drive letter). p process. B. Initial Connection to the Host 1 . Setup I/O bits bit0 ¸ bit7 as outputs. 1 - Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 6 0974 Sunnyvale, CA 94089 Tel: (408) 744 731WM2 are not available with Joystick Node LSCounter Mode and PWM1, P 5. You will see the IO node specific screen4. Choose the proper COM port3. Run the Logosol Distributed Control Network Utility.2. Turn on the power supply.1. The installation wizard will guide you through the setu4. 3. 2. gosol Distributed Control Network Utility installation disk into the floppy drive.1. A. Installation 1. 731 to the Network as it is shown in samples above.Connect LS 731 QUICK START GUIDE 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 2. Installation and using Logosol Motion Control Center Insert the Logosol Motion Control Center installation disk into the floppy drive. Select Run from the Windows 95/98/NT Start menu. Type a:\mccsetup and then click OK (a: represents the drive letter). T B. Initial Connection to the Host From the menu select . This will open a terminal window. From t -down list select either RS--COM1 or RS--COM2 corresponding to the one used to communicate with LS-731. Press the Return key to verify that the connection is established and the command prompt (>) appears on the terminal window. INI at the command prompt followed by Return to initialize the controller. It may take few seconds to complete the process. to check the status of LS-731 Joystick Node and refer to the following MCL Terminal Interpreter Command Set for executing various commands. The following commands are available from the Terminal prompt: – displays status information: 1) “” displays status info for all modules on the network; 2) “” displays status info for module A1. Status information for module LS- 1) 2) 3) 4) Analog In0 (X axis) 5) 6) Analog In2 (Z axis) 7) 8) 9) – IN – returns the state of the pushbuttons. 1) “IN” returns the state of all 4 pushbuttons of all modules; 2) “” returns the state of pushbutton 2 of module A1. –returns or sets the state of the outputs. 1) “” returns the state of all 8 LEDs of all modules; 2) “” returns the state of LED 1 of module A1; 3) “” turns off the LED 3 of module A1; 4) “” turns on the LED 1 of module A1. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 7 0974 Sunnyvale, CA 94089 Tel: (408) 744 OUT A1X1=1 OUT A1X3=0 A1X1OUT OUT OUT IN A1X2 returns MCL interpreter version.VER Version number Device ID Counter value Analog In1 (Y axis) Inputs bytes Status byte Address 731 includes: XST A1 XST XST MCL TERMINAL INTERPRETER COMMAND SET XSTType 6. Type 4. 485485pullTarget he TerminalConnection3. Run the Logosol Motion Control Center software.2. Turn on the power supply.1. he installation wizard will guide you through the setup process.4. 3. 2. 1. A. Installation 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 INI – resets the network and assigns individual addresses if necessary. – returns the value of the analog inputs (Joystick axes positions): 1) “” returns the values of all analog inputs of all modules; 2) “” returns the value of the analog input 0 of module A1. – hex command mode –- more information about command format refer to “Command Description” section in this document. Start byte (AA) and checksum byte are generated by the MCL interpreter: “HEX 01 13 04” - sends “Read Status” command (code 0x13) for module #1 with 4. – sets different baud rate (19200, 57600 and 115200) “” - sets baud rate to 115.2 Kbps. Note: baud rate is set to 19.2 Kbps after power-up. – shows the history of the last used commands, their hexadecimal codes and the returned status bytes. – executes a text file containing sequence of MCL commands. “EXE control.dat” - executes the command sequence from “control.dat” file in current directory. – displays number and types of all modules on the network and their addresses. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 8 0974 Sunnyvale, CA 94089 Tel: (408) 744 NET EXE HIS BDR 115200 BDR data byte = 0x0 level command written in hexadecimal format. For sends a lowHEX ADC A1X0 ADC ADC 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 - Serial Command Interface The serial communication with the LS-731 nodes adheres to a full-duplex (4 wire) 8 bit stop bit. The communication protocol also supports a full-duplex multi-drop RS-485 interface, which allows multiple LDCN nodes to be controlled over a single RS-485 port. In this case, the host sends commands over its RS-485 transmit line and receives all status data back over the shared RS-485 receive line. The command protocol is a strict master/slave protocol in which the host master sends a command packet over the command line to a specific LS-731 slave. The Node sends back a status packet. Typically, the host does not send another command until a status packet has been received to insure that it does not overwrite any previous command data still in use. Each command packet consists of the following: Header byte (0xAA) Address byte -- 0x Command byte - 15 data bytes Checksum byte The command byte is divided into upper and lower nibbles: the lower nibble is the command value; the upper nibble is the number of additional data bytes, which will follow the command byte. The checksum byte is 8-bit sum of the address byte, the command byte and the data bytes. The number of data bytes depends on the particular command chosen. After a command is issued, the corresponding node will send back a status packet consisting of: Status byte l bytes of status data Checksum byte The Status Byte contains basic status data about the LS-731, including a checksum error flag for the command just received. The number and the meaning of Optional Status Data Bytes are programmable by the user and may include any, none or all of data available from the module. The checksum byte is the 8-bit sum of the status byte and the additional optional status data bytes. All 16-bit and 32-bit data is sending with the least significant byte first. than using hard-wired or switch-selected address of each LDCN node, the host dynamically sets the address of each LDCN node with the aid of the daisy-chained “A in” and “A out” lines. This allows additional LDCN nodes to be added to an RS-485 network with no hardware changes. On Power-up, “A in” of the first LDCN node is pulled low, its communication is enabled and the default address is 0x00. When the Set Address command is issued to give this node new unique address, it will lower its “A out” line. Connecting “A out” to the “A in” of the next node on the network will enable its communication at default address of 0x00. Repeating this procedure allows a variable number of controllers present to be given an unique addresses. In addition to the individual address, each node has a secondary group address. Several LDCN nodes may share a common group address. This address is useful for sending Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 9 0974 Sunnyvale, CA 94089 Tel: (408) 744 Group Addresses Rather Addressing Optiona 0 FF) individual or group (0x00 asynchronous protocol with one start bit, followed by 8 data bits (lsb first), followed by a single 731COMMUNICATIONS WITH LS 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 commands, which must be performed simultaneously by a number of nodes (e.g. Set Baud , etc.). When a LS- receives a command sent to its group address, it will execute the command but not send back a status packet. This prevents data collisions on the shared response line. When programming group addresses, however, the host can specify that one member of the group is the “group leader”. The group leader will send back a status packet just like it would for a command sent to its individual address. The group address is programmed at the same time as the unique individual address using the Set Address command. The default baud rate after Power-up is 19.2 Kbps. Baud rates up to 115.2 Kbps may be used. After communication has been established with all nodes on a single network, the baud rate may be changed to a higher value with the command. - IO11 IO10 IO9 IO8 INPUT INPUT INPUT INPUT I/O BUTTON4 BUTTON3 BUTTON2 BUTTON1 IO7 IO6 IO5 IO4 IO3 IO2 IO1 IO0 I/O OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT OUTPUT 2 A/D 1 A/D 2 A/D 3 2 - Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 100974 Sunnyvale, CA 94089 Tel: (408) 744 bit values Axis Position inputs are 8 Z axesY axesX axes Axis position inputs FUNCTION LED1LED3LED3LED4 LED5LED6LED7LED8 BIT LEDs FUNCTION BIT Pushbuttons 731 I/O BITS MAPPING.LS RateSet Baud Changing Communications Rates 731Rate 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 The following section describes in detail the commands available for the LS- # Data 0X0 2 Sets the direction (input or output) of the I/O lines 2 Define Status 1 1 particular status data to be returned just once --- 0 0 Set Outputs 2 Immediately sets the states of the output bits 4 Output Synch Output command 1 Turns timer mode on or off and sets timer mode prescaler --- 0 1 Sets the baud rate (group command only) --- 0 0 res the input bit values and the timer --- 0 0 Simply causes the defined status data to be returned Hard reset 0 Resets the controller to its power-up state. - Set Direction Number of data bytes: 2 Command byte: Data bytes: Direction bits for I/O bits 1 to 8 Bit 0: Direction bit for I/O bit 1 (0 = output, 1 = input) Bit 1: Direction bit for I/O bit 2 Bit 2: Direction bit for I/O bit 3 Bit 3: Direction bit for I/O bit 4 Bit 4: Direction bit for I/O bit 5 Bit 5: Direction bit for I/O bit 6 Bit 6: Direction bit for I/O bit 7 Bit 7: Direction bit for I/O bit 8 2. Direction bits for I/O bits 1 to 8 Bit 0: Direction bit for I/O bit 9 Bit 1: Direction bit for I/O bit 10 Bit 2: Direction bit for I/O bit 11 Bit 3: Direction bit for I/O bit 12 Bits 4- Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 110974 Sunnyvale, CA 94089 Tel: (408) 744 7: don’t care. 1. 0x20 0x0Command value: Command Description773LS 0xF 0xENop Not used0xD value Synchronously sto0xCSynch Input Not used0xB 0xASet Baud Rate Not used0x9 0x8Set Timer Mode ously set with the Stores output bit values to be synchron0x7Set Synch 0x6 Outputs previously stored output bits0x5Synch Output Not used0x4 Causes0x3Read Status Defines which data should be sent in every status packet0x2 Sets the individual and group addresses0x1Set Address Set Direction bytesCode DescriptionCMDCommand 731. COMMAND SPECIFICATION 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 Sets the directions of all 12 I/O bits. This command should be executed during initialization of the - 0x0f. Number of data bytes: 2 Command byte: Data bytes: 1. - 2. Group Address: 0x80- Sets the individual address and group address. Group addresses are always interpreted as being between 0x80 and 0xFF. If a LS-731 is to be a group leader, clear bit 7 of the desired group address in the second data byte. LS-731 will automatically set bit 7 internally after flagging itself as a group leader. (If bit 7 of the second data byte is set, the module will be by default a group member.) The first time this command is issued after power-up or reset, it will also enable communications for the next module on the network chain by lowering the it’s “A out” signal. Define Status Number of data bytes: 1 Command byte: Data bytes: 1. Status items: (default: 0x00) 0: send I/O Byte 0 and Byte 1 (2 bytes) (pushbutton 1 is bit 0 in I/O byte 1, pushbutton 2 is bit 1 in I/O byte 1, and so on) 1: send ANALOG IN 0 value (1 byte) – Joystick X axis 2: send ANALOG IN 1 value (1 byte) – Joystick Y axis 3: send ANALOG IN 2 value (1 byte) – Joystick Z axis 4: send timer value (4 bytes, least significant first) 5: ID, version number (2 bytes) -731 device ID = 2, version number = 1) 6: send I/O bit values captured with the Synch Input command (2 bytes) 7: send timer value captured with the Synch Input command (4 bytes) Defines what additional data will be sent in the status packet along with the status byte. Setting bits in the data byte will cause the corresponding additional data to be included in the status packet. The status data will always be sent in the order listed. For example if bits 0 and 3 are set, all subsequent status packets will consist of the status byte followed by two bytes of I/O bit data, followed by the Z axis value, followed by the checksum. The status packet returned in response to this command will include the additional data bytes specified. On power-up or reset, the default status packet will include only the status byte and the checksum byte. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 120974 Sunnyvale, CA 94089 Tel: (408) 744 Description: (LS send device Bit 0x12 0x2Command value: Description: 0xFF (initial value 0xFF) 0x7F (initial value 0x00)Individual address: 0x00 0x21 0x1Command value: Set Address 731 node with data byte 1 = 0x00 and data byte 2 =LS Description: 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 Number of data bytes: 1 Command byte: Data bytes: 1. Status items: (default: 0x00) 0: send I/O Byte 0 and Byte 1 (2 bytes) (pushbutton 1 is bit 0 in I/O byte 1, pushbutton 2 is bit 1 in I/O byte 1, and so on) 1: send ANALOG IN 0 value (1 byte) – Joystick X axis 2: send ANALOG IN 1 value (1 byte) – Joystick Y axis 3: send ANALOG IN 2 value (1 byte) – Joystick Z axis 4: send timer value (4 bytes, least significant first) 5: send device ID, version number (2 bytes) -731 device ID = 2, version number = 1) 6: send input bit values captured with the Synch Input command (2 bytes) 7: send timer value captured with the Synch Input command (4 bytes) This is a non-permanent version of the Define Status command. The status packet returned in response to this command will incorporate the data bytes specified, but subsequent status packets command. Number of data bytes: 0 Command byte: Data bytes: Set Synch Output command. Set Output Number of data bytes: 2 Command byte: Data bytes: 1. Output Byte 0 – LED 1 to 8 values 2. Output Byte 1 – Immediately sets the values for the LEDs. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 130974 Sunnyvale, CA 94089 Tel: (408) 744 Description: don’t care 0x26 0x6Command value: with the Synchronously set the LED values previously stored Description: None 0x05 0x5Command value: Synch Output Define Statuswill include only the data bytes previously specified with the Description: (LS Bit 0x13 0x3Command value: Read Status 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 h Output Number of data bytes: 2 Command byte: Data bytes: 1. Bit values for LEDs 1-8 2. Set this byte to 0x00 Stores output bit values in internal registers to be set synchronously with the Synch Output command. Timer Mode Number of data bytes: 1 Command byte: Data bytes: 1. Timer mode configuration byte Bit 0: 0 = Timer disabled, 1 = Timer enabled Bits 5,4: 1 Bits 2,3,6,7: are not used Sets the operating mode of the timer. In timer mode, the LS-731 counts its 5.0 MHz internal clock. The prescaler can be used to slow down the clock. Number of data bytes: 1 Command byte: Data bytes: 1. Baud rate divisor, BRD Sets the communications baud rate. All modules on the network must have their baud rates changed at the same time, therefore this command should only be issued to a group including all of the modules on the network. A status packet returned from this command would be at the new baud rate, so typically, there should be no group leader when this command is issued. (Note that the host’s baud rate must also be changed for subsequent communication.) Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 140974 Sunnyvale, CA 94089 Tel: (408) 744 Description: BRD = 0x0A115200 BRD = 0x1457600 BRD = 0x3F19200 BRD = 0x819600 sample values: 0x1A 0xACommand value: Baud RateSet Description: 11 = 8:1 prescaler (0.625 MHz) 0 = 4:1 prescaler (1.25 MHz) 01 = 2:1 prescaler (2.5 MHz) 00 = No prescaler (5 MHz) Bit 1:Should be 0 0x18 0x8Command value: Set Description: 0x27 0x7Command value: Set Sync 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 Number of data bytes: 0 Command byte: Data bytes: Causes the current Input bit values and the timer value to be synchronously stored in the LS- internal registers. These values can be read using the Read Status or the Define Status commands. No Operation Number of data bytes: 0 Command byte: Does nothing except that causes a status packet with the currently defined status data to be returned. Number of data bytes: 0 Command byte: Resets modules to their p-up state. No status will be returned. Typically, this command is issued to all modules on the network, although if the baud rate is set to the default value, it is possible to reset and re-initialize the addresses of a contiguous sub-chain of modules. The first byte of each status packet is the status byte. The LS-: if bit of the Status Byte is set, the LS-731 detected a checksum error in most recently command packet. Bits 0, 2, 3, 4, 5, 6 and 7 are undefined and can be ignored. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 150974 Sunnyvale, CA 94089 Tel: (408) 744 1 731 has only one bit defined Status Byte ower Description: 0x0F 0xFCommand value: Hard Reset Description: 0x0E 0xECommand value: 731’s ion:Descript None 0x0C 0xCCommand value: Synch Input 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 Initializing Procedure and Programming Examples for LS- To ensure a proper operation of LS-731 joystick node connected to the network, the addresses for all connected units must be set. Understanding the Serial Communication with LS- The Serial Communication with LS-731 is strictly master-slave and includes repeatedly two elements: - Sending a command to the specified node’s address; -– Status Byte(s). During the communication all bytes are sent with LSB first. There are 12 commands controlling LS-731 nodes (refer to LS -731 Command Description). Each command as shown in the following two tables includes header, address, command, data bytes and one checksum byte. Checksum does not include the header byte. Structure of Address Command Code CheckSum = Group) number of data comman code – Command Address Cmd. Checksum 0F 07 FF AA The structure of the returned status information depends on Define Status or Read Status commands (refer to LS-731 Command Description). By default only the Status byte and Checksum are returned to the host. Normally the returned Status Byte is 00h. - CheckSum 1 timer, version, etc. – Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 160974 Sunnyvale, CA 94089 Tel: (408) 744 39nal status bytes four additio01 23 05 10 00 00no additional status bytes requested00 Bytes Optional + CheckSum = ByteAdditional Status Bytes as inputs, A/Ds, Status Byte 16Optional Bytes 0Byte 1 Examples Status Data 2801 002 601Set Outputs 282 101AASet Address 18051 201AADefine Status 0 E01AANo operation Code Data Byte(s)Header Byte N+1 NByte 4 Byte 3Byte 2Byte 1Cmd. Bytes Examples 15011 301AA bytes d Data Byte Low 4 bitsHigh 4 bits 3 + 2 + ByteByte (Individual or Data ByteHeader Byte 5Byte 4Byte 3Byte 2Byte 1 commandRead Status Commands Note: Receiving answer to the sent command 731 731 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 - -- for individual control of each node. It is from 01h to 7Fh. - Group - for simultaneous control of all group members by sending a single command to their group address. It is between of 80h to FFh. The group may have Group leader responsible to send status data. Its address is: Group leader address = Group address - 80h. If there is no group leader - no status data will be send after a group command. Set Baud Rate command must be sent only as a group command with no group leader, Next table presents the structure of Set Address command. The preset address 00h is set by the firmware after power-up. Example of Preset Command Group Checksum Address code Address Address FF After power–up and Hard Reset command all nodes have their address set to 00h and only the first node (starting from the host) has its communication enabled. Consecutive commands are sent to address 00h until all nodes are addressed. This procedure can be executed once after Hard Reset. The table below shows the steps to address 3- network. sCommand Set address 2 tHexadecimal Group Group Group e p address address address address address address 0 - 1 Hard Reset address=00 address=00 address=00 communication communication communication 2 F FF address=00 address=00 communication communication 3 FF FF address=00 communication 4 FF 02 FF FF Before start addressing command must be issued. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 170974 Sunnyvale, CA 94089 Tel: (408) 744 Hard ResetNote: Node3 = 03 0301AA 00 21 03 FF 23Set Address enabled Node2 = 02 0201AA 00 21 02 FF 22Set Address disabledenabled Node1 = 01 01F 21AA 00 21 01 Set Address disableddisabledenabled AA FF 0F 0E upPower Code Individual Individual Individual Node 3Node Node 1 Example of sequential addressing for three LDCN nodes nodes Address Set Setting the Addresses 21012100AA Individual Header Byte 6Byte 5Byte 4Byte 3Byte 2Byte 1 commandSet Address Set Address Command: otherwise communication problems may occur. Both individual and group addresses have to be set during the initialization process. Individual chained network has two addresses:Each node on the daisy Addressing 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 The flowchart shows the addressing procedure of N drives network. There is no group leader and the group address is FF. I - Address; J - Group Address = FF; Status - Status Data sent to the Host; - Greater than one servo circle. Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 180974 Sunnyvale, CA 94089 Tel: (408) 744 Timeout Individual 731 Logosol Joystick Node LS- Doc# 712731001, Rev. 1.2, 05/21/2002 Examples of Managing LS- # 1 - Resets network with group command. # 2 - Sets the address of LS- # 3 - Checks if there are more LDCN nodes, connected to the network. # 4 - Reads the pushbuttons states. # 5 - # 6 - Hexadecimal code of Comments # command 1 2 dress 01h for node 1. Group address is FFh. 3 Sets address 02h for node 2. Group address is FFh. 4 Reads pushbuttons states of node 1. Use 5 Reads axes positions. Use Read Status command. Set Command Byte to 0Eh. When Command Bits 6 Logosol, Inc. · · 1155 Tasman Drive · ·-· · www.logosolinc.com 190974 Sunnyvale, CA 94089 Tel: (408) 744 Sets LEDs 0, 1 and 2 of node 1. Second output byte is 00h.AA 01 26 07 00 2E 1, 2 and 3 are set to 1 the axes positions are requested. AA 01 13 0E 22 command. Set Data Byte to 01h to read the inputs.Read Status AA 01 13 01 15 AA 00 21 02 FF 22 Sets adAA 00 21 01 FF 21 Hard Reset AA FF 0F 0E Examples Sets the LED values. Reads analog inputs (axes positions). 731. 731 Node 731