IAI America ROBO Cylinder Series - Manual (Page 160)

5. Modbus RTU
152
Modbus
5.6 Direct Writing of Positioning Data (Queries Using Code 10)
5.6.1 Numerical Value Movement Command
(1) Function
Specify the target position in PTP positioning operation using absolute coordinates. It is possible
to command the actuator to move via numerical values by writing directly to the group of registers
at addresses from 9900
H
to 9908
H
(can be set in one message).
Values of all registers, other than the control flag specification register (address: 9908
H
), will
become effective once the values are sent. If there is no need to change the target position,
positioning band, speed, acceleration/deceleration, push-current limiting value and control
specification, therefore, each subsequent numerical movement command can be issued simply by
writing a desired register that can effect an actual movement command based on changing of the
applicable register alone (refer to “Start address list”).
(2) Start address list
This group of registers is used to move the actuator by specifying the target position coordinates,
positioning band, speed acceleration/deceleration, push-operation current limit control
specification flags and so on as numerical values.
Data of start addresses in the list (8 registers in total) can be changed with one transmission.
Address
[H]
Symbol Name Sign
Able to effect an actual
movement command by
changing the applicable
register alone
Register
size
Byte
size
Unit
9900 PCMD
Target position
specification register
{ { 2 4 0.01 mm
9902 INP
Positioning band
specification register
x 2 4 0.01 mm
9904 VCMD
Speed specification
register
{ 2 4 0.01 mm/sec
9906 ACMD Acceleration/deceleration
specification register
{ 1 2 0.01 G
9907 PPOW Push-current limiting value
specification register
{ 1 2 %
9908 CTLF Control flag specification
register
x
Initialization after
each movement
1 2 -