IAI America RCM-GW-PR - Manual (Page 72)

66
PfofiBus Gateway
(2) Command list
The available commands and commands are listed below.
Function category Code Description
Positioner
operation
axis
Positioner
operation
axis
Handshake 0000H Clear a request command. { {
Position table data
write 1000H Write a target position.
{ x
1001H Write an in-position band.
1002H Write a speed.
1003H Write a positive boundary for each zone.
1004H Write a negative boundary for each zone.
1005H Write
an acceleration.
1006H Write a deceleration.
1007H Write a current-limiting value for push
motion.
1008H Write a load current threshold.
Position table data
read 1040H Read a target position.
{ x
1041H Read an in-position band.
1042H Read a speed.
1043H Read a positive boundary for each zone.
1044H Read a negative boundary for each zone.
1045H Read an acceleration.
1046H Read a deceleration.
1047H Read a current-limiting value for push
motion.
1048H Read a load current threshold.
Writing of position
table data to ROM 0DA0H POS writing coil write
{ X
02E0H POS writing complete coil read
Present alarm code
read 0342H
Read an alarm code currently present. { {
Current value monitor 0440H Monitor the current position of a specified
axis.
{ {
Group broadcast
operation 0D03H Cause all axes in a group to start moving to
the same POS number.
{ X
PIO/Modbus control
authority switching 0DA1H
Switch between PIO and Modbus. x {
{: Available X: Not available