IAI America ROBO Cylinder Series - Manual (Page 134)

5. Modbus RTU
126
Modbus
5.4.7 Home Return <>
(1) Function
Home return operation will start if a rising edge in the home return command signal is detected
(the data is first set to 0000
H
and then changed to FF00
H
). Upon home return completion, the
HEND bit will become 1. This command can be input as many times as desired even after home
return completion.
(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 040B Home return command
Changed data [H] 2 Arbitrary Execute home return: FF00
H
Normal: 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
* The servo must be ON before a home return command is issued.
If a teaching pendant or PC software is connected before the control establishes communication
with the host, the servo is turned OFF, and then the teaching pendant/PC software is removed,
the servo cannot be turned ON/OFF via commands received from with the host.
In this case, restore the RC controller power, or make sure the SIO port connection is removed
while the servo is ON.
(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.