IAI America ROBO Cylinder Series - Manual (Page 159)

5. Modbus RTU
151
Modbus
Note As soon as a position number is written to this register, the actuator starts moving.
The CSTR (start signal) is not required.
If the change is successful, the response message will be the same as the query.
[3] Move to position No. 1 using the position number specification register (address 0D03
H
).
Before this operation, perform the operation in example [1] above to complete a home return.
Query (Silent intervals are inserted before and after the query.)
First time 01 06 0D 03 00 01 BA A6 --- Specify position No. 1
Second time 01 06 0D 00 10 00 86 A6--- Turn OFF the CSTR (start signal)
Third time 01 06 0D 00 10 08 87 60--- Turn ON the CSTR (start signal)
Field RTU mode
8-bit data
Start Silent interval
Slave address [H] 01
Function code [H] 06
Start address [H] First time: 0D03
Second time: 0D00
Third time: 0D00
Changed data [H] First time: 0001
Second time: 1000
Third time: 1008
Error check [H] First time: BAA6 (in accordance
with CRC calculation)
Second time: 86A6 (in accordance
with CRC calculation)
Third time: 8760 (in accordance
with CRC calculation)
End Silent interval
Note To keep the previous status, send the previous status even if there is no change.
As in the example above, keep the servo ON bit as 1 at other than servo OFF.
If the change is successful, the response message will be the same as the query.