PING                Request the axis ID and firmware version from a group of axes

PONG                Answer to PING

Syntax

PING value16

Request the axis ID and firmware version from a group of axes

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Answer to PING

 

Operandsvalue16: 16 bit immediate value, used to compute each axis answer delay

PlaceOnline

Remark: The online instructions are intended only for host/master communication and cannot reside in a TML program. Therefore their syntax is fictive, the only goal being to identify these commands.

In the Command interpreter, you can check which drives/motors are connected in your network by sending a PING request with syntax PING value16. The PONG answers from all the axes are displayed in the output window.

Binary code

Ping

 

DescriptionBy broadcasting a PING command, the host/master can find the axis ID of all the drives/motors present in the network. When the PING request is sent via an RS-232 link the host bit (H) from the expeditor address must be set to 1. For details, see serial communication protocol description.

The operand of PING, value16, represents a time interval measured in µs. This time is multiplied with the axis ID of each axis to provide a time delay for sending the PONG answer.  For example if value16 is 2000 then the drive/motor with axis ID = 100 will answer after a delay of 100 x 2000µs = 0.2s. The time delay is necessary only if the host is connected via an RS-232 link with one of the drives/motors from a CAN-bus network. If the host is directly connected on the CAN-bus network, value16 can be 0.

Remark: If the PING command is sent from the Command Interpreter without operand, the value16 is set by default at 2000. This value corresponds to the highest serial baud rate of 115200. For smaller baud rates the value16 must be increased proportionally.

Each axis will answer to a PING command with a PONG message, which provides the Axis ID and the firmware version of the expeditor. The firmware version has the form: FxyzA, where xyz is the firmware number (3 digits) and A is the firmware revision. The PING message will include the ASCII code of 4 characters: 3 digits for the firmware number + 1 letter for the firmware revision.