IAI America ROBO Cylinder Series - Manual (Page 163)

5. Modbus RTU
155
Modbus
„ Acceleration/deceleration specification register (ACMD)
This register specifies the acceleration or deceleration. The value of this register is set in units
of 0.01 G in a range of 1 to 300 (1 to 012C
H
). If the specified value exceeds the maximum
acceleration or deceleration set by a parameter, an alarm will generate the moment a
movement start command is issued.
The actuator will start moving when this register is rewritten. In other words, the
acceleration/deceleration can be changed while the actuator is moving, simply by rewriting this
register.
„ Push-current limiting value (PPOW)
Set the current limit during push-motion operation in PPOW. Set an appropriate value by
referring to the table below.
Actuator model name Pushable range [%] Settable range (input value) [H]
Actuator other than
RCS2-RA13R
20 to 70 (Note) 33 to B2
RCS2-RA13R 20 to 200 33 to 1FE
(Note) The setting ranges may vary depending on the actuator.
[For details, refer to the IAI catalog or operation manual of each actuator.]
The actuator will start moving when this register is rewritten. In other words, the current
limiting value can be changed during push-motion operation simply by rewriting this register.
Sample push-motion current setting
z When setting the current to 20%
255(100%) x 0.2 (20%) = 51 o 33
H
(convert into hexadecimal number)