IAI America ROBO Cylinder Series - Manual (Page 124)

5. Modbus RTU
116
Modbus
5.4.2 Safety Speed Enable/Disable Switching (SFTY)
(1) Function
This query enables/disables the speed specified by user parameter No. 35, “Safety speed.”
Enabling the safety speed in the MANU mode will limit the speeds of all movement commands.
(2) Query format
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is
specified
Function code [H] 1 05 Write to a single coil DO.
Start address [H] 2 0401 Safety speed command
Changed data [H] 2 Arbitrary Safety speed enabled: FF00
H
Safety speed disabled: 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(3) Response
If the change is successful, the response message will be the same as the query.
If invalid data is sent, an exception response (refer to section 7) will be returned, or no response
will be returned.