IAI America ROBO Cylinder Series - Manual (Page 173)

5. Modbus RTU
165
Modbus
(Example 5) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving.
Pitch
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
10 0.1 100 o 50 0.3 0
Incremental
(bit3 = 1)
(1) Start moving at a speed of 100 mm/s. [Refer to Example [4], “Moving in the incremental
(pitch feed) mode” above.]
„ Query : 01 10 9900 0009 12 0000 03E8 0000 000A 0000 2710 001E 0000 0008 F3A0
„ Response : 01 10 9900 0009 2E93
(2) Change the speed to 50 mm/s.
„ Query : 01 10 9904 0005 0A 0000 1388 001E 0000 0008 BD83
„ Response: 01 10 9904 0005 6F57
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
„ᴾ Breakdown 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 No. 0 + 1
Function code 10
H
Start address 9904
H
The start address is the target position specification
register 9904
H
.
Number of registers 0005
H
Specify 9904
H
through 9908
H
as the addresses to be
written.
Number of bytes 0A
H
5 (registers) x 2 = 10 (bytes) o A
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
New data 7
(acceleration/deceleration)
Input unit (0.01 G)
001E
H
0.3 [G] × 100 = 30 o 001E
H
New data 8 (push)
Input unit (%)
0000
H
0 [%]o 0
H
New data 9 (control flag) 0008
H
(Incremental setting)
1000bĺ0008
H
Error check BD83
H
CRC check calculation result o BD83
H
End None Silent interval
Total number of bytes 19