IAI America ROBO Cylinder Series - Manual (Page 142)

5. Modbus RTU
134
Modbus
5.4.11 Position Data Load Command <>
(1) Function
The current position is acquired by writing this command (write FF00H) when the teaching mode
command (5.4.10) is FF00H (teaching command).
The current position data will be written in the position number specified by the position number
specification register when the aforementioned condition was detected.
If other position data fields are empty, the default parameter values will be written at the same
time in the empty fields other than the target position (positioning band INP, speed VCMD,
acceleration/deceleration speed ACMD, and control flag CTLF).
After sending this command (write FF00
H
), keep the status as is for 20 ms or longer.
(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 0415 Position data load command
Changed data [H] 2 Arbitrary Position data load command: FF00
H
Normal: 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.