IAI America ROBO Cylinder Series - Manual (Page 165)

5. Modbus RTU
157
Modbus
Bit 4 (GSL0), 5 (GSL1) = Refer to the table below. (These bits can be set only on SCON-CA
controllers.)
GSL1 GSL0 Function
0 0 Select parameter set 0 (default).
0 1 Select parameter set 1
1 0 Select parameter set 2
1 1 Select parameter set 3
You can register a maximum of four servo gain parameter sets consisting of
six parameters and move the actuator to each position by selecting a different
parameter set every time. [For details, refer to the operation manual for your
controller.]
Bit 6 (MOD0), 7 (MOD1) = Refer to the table below. These bits cannot be set on PCON-* and
ERC2 controllers.)
MOD1 MOD0 Function
0 0 Trapezoid pattern (default)
0 1 S-motion
1 0 Primary delay filter
1 1 Cannot be used.
These signals are used to select the acceleration/deceleration pattern
characteristics. Set one of the patterns before issuing an actuator movement
command. [For details, refer to the operation manual for your controller.]
Bit 12 (NTC0), 13 (NTC1) = Refer to the table below. (These bits can be set only on SCON-CA
controllers.)
NTC1 NTC0 Function
0 0 Do not use vibration control
(default).
0 1 Select parameter set 1
1 0 Select parameter set 2
1 1 Select parameter set 3
When vibration control is used, you can register a maximum of three
parameter sets and move the actuator to each position by selecting a different
parameter set every time. [For details, refer to the operation manual for your
controller.]