IAI America ROBO Cylinder Series - Manual (Page 167)

5. Modbus RTU
159
Modbus
[2] Move by changing the target position. (As well as data other than the target position).
Conditions: Want to move the actuator by changing the target position, speed and
acceleration/deceleration every time.
Write the target position specification register (9900
H
) through
acceleration/deceleration specification register (9906
H
) (Example2)
Start of movement
(Example 2) Target position: 50 mm
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
50 0.1 100 0.3 Need not be set.
„ᴾ Query : 01 10 9900 0007 0E 0000 1388 0000 000A 0000 2710 001E 50CFᴾ
„ᴾ Response : 01 10 9900 0007 AF57
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
ᴾ
„ᴾ
Breakdown of Query Message
Field
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address 01
H
Axis number + 1
Function code 10
H
Start address 9900
H
The starting address corresponds to the setting of
target position specification register 9900
H
.
Number of registers 0007
H
Addresses 9900
H
to 9906
H
are written.
Number of bytes 0E
H
7 (registers) × 2 = 14 (bytes) o E
H
0000
H
All upper bits of the 32-bit data are 0. New data 1, 2
(target position)
Input unit (0.01 mm)
1388
H
50 [mm] × 100 = 5000 o 1388
H
0000
H
All upper bits of the 32-bit data are 0. New data 3, 4
(Positioning band)
Input unit (0.01 mm)
000A
H
0.1 [mm] × 100 = 10 o 000A
H
0000
H
All upper bits of the 32-bit data are 0. New data 5, 6 (Speed)
Input unit (0.01 mm/sec) 2710
H
100 [mm/s] ×100 = 10000 o 2710
H
New data 7
(Acceleration/deceleration)
Input unit (0.01 G)
001E
H
0.3 [G] × 100 = 30 o 001E
H
Error check 50CF
H
CRC checksum calculation result o 50CF
H
End None Silent interval
Total number of bytes 23