IAI America ROBO Cylinder Series - Manual (Page 175)

5. Modbus RTU
167
Modbus
(Example 6) Perform a push-motion operation for 20 mm from the 50-mm position at a
current-limiting value of 70%.
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
50 20 100 0.3 70
Push-motion
operation
(bit1 = 1,
bit2 = 0, 1)
„ Query: 01 10 9900 0009 12 0000 1388 0000 07D0 0000 2710 001E 00B2 0006 C377
„ Response: 01 10 9900 0009 2E93
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
„ᴾ Breakdown of Query Message
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 9900
H
The start address is the target position specification
register 9900
H
.
Number of registers 0009
H
Specify 9900
H
through 9908
H
as the addresses to be
written.
Number of bytes 12
H
9 (registers) x 2 = 18 (bytes) o 12
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)
07D0
H
20 [mm] × 100 = 2000 o 07D0
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] × 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
New data 8 (push)
Input unit (%)
00B2
H
70 [%] o B2
H
New data 9 (control flag) 0006
H
(Push setting)
0110b o 0006
H
Error check C377
H
CRC check calculation result o C377
H
End None Silent interval
Total number of bytes 27