IAI America ROBO Cylinder Series - Manual (Page 148)

5. Modbus RTU
140
Modbus
5.4.14 Start Positions 0 to 7 <>
Movement Command (Limited to PIO Patterns 4 and 5)
(1) Function
The actuator moves to the specified position number position.
The movement command for start position 0 to 7 is effective only when PIO pattern 4 or 5 (solenoid
valve mode) is selected.
The movement command is sent by enabling either one of ST0 to ST7 in 5.4.14 (5), “Start
address” (write new value FF00
H
when 0000
H
is set).
If a position other than the valid start positions is selected, “085: Moving position number error” will
be generated.
Either level operation or edge operation can be selected using user parameter No. 27, “Movement
command type.”
(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 Arbitrary Refer to 5.4.14 (5), “Start address.”
Changed data [H] 2 Arbitrary *1 Operation command ON: FF00
H
Operation command OFF: 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
*1 If user parameter No. 27, “Movement command type” is set to “level operation, ” the actuator
decelerates to a stop by overwriting FF00
H
with 0000
H
.
(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.