IAI America ROBO Cylinder Series - Manual (Page 169)

5. Modbus RTU
161
Modbus
(Example 3) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving.
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control
flag
50 0.1 100 o 50 0.3 Need not be set.
(1) Start the movement at a speed of 100 mm/s. [Refer to Example [2], “Move by changing the
speed” above.]
„ Query : 01 10 9900 0007 0E 0000 1388 0000 000A 0000 2710 001E 50CF
„ Response : 01 10 9900 0007 AF57
(2) Change the speed to 50 mm/s.
„ Query : 01 10 9904 0002 04 0000 1388 395C
„ Response : 01 10 9904 0002 2E95
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
ᴾ
„ᴾ ᵠᶐ
eakdown of Query Message (Change the speed to 50 mm/s. [Refer to the above example for the
query message used to start the movement at 100 mm/s.])
Field RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address 01
H
Axis number + 1
Function code 10
H
Start address
9904
H
The starting address corresponds to the setting of
target position specification register 9904
H
.
Number of registers 0002
H
Addresses 9904
H
to 9905
H
are written.
Number of bytes 04
H
2 (registers) × 2 = 4 (bytes) o 4
H
0000
H
All upper bits of the 32-bit data are 0. New data 5, 6 (Speed)
Input unit (0.01 mm/s) 1388
H
50 [mm/s] × 100 = 5000 o 1388
H
Error check 395C
H
CRC checksum calculation result o 395C
H
End None Silent interval
Total number of bytes 13