IAI America ROBO Cylinder Series - Manual (Page 178)

5. Modbus RTU
170
Modbus
5.6.2 Writing Position Table Data
(1) Function
Position table data can be changed using this query.
Every time an access is made to the start address list (address +0000
H
to +000E
H
), it is read out
of the non-volatile memory in the unit of 1 position data, and gets stored to the non-volatile
memory after the writing is executed.
* The EEPROM has a rewrite life of approx. 100, 000 times due to device limitations. If the
position table data is written frequently, the EEPROM will reach its rewrite life quickly and a
failure may occur. Accordingly, be careful not to let unexpected loops, etc., occur due to the
logics on the host side.
(2) Start address list
In a query input, each address is calculated using the formula below:
1000
H
+ (16 x Position number)
H
+ Address (Offset)
H
Example Change the speed command register for position No. 200
1000
H
+ (16 x 200 = 3200)
H
+ 4
H
= 1000
H
+ C80
H
+ 4
H
= 1C84
H
“1C84” becomes the input value for the start address field of this query.
* The maximum position number varies depending on the controller model and the PIO pattern
currently specified.
„ Position data change resisters
Address Symbol Name Sign
Register
size
Byte
size
Input
unit
+0000 PCMD Target position { 2 4 0.01 mm
+0002 INP Positioning band 2 4 0.01 mm
+0004 VCMD Speed command 2 4 0.01 mm/sec
+0006 ZNMP Individual zone boundary + { 2 4 0.01 mm
+0008 ZNLP Individual zone boundary - { 2 4 0.01 mm
+000A ACMD Acceleration command 1 2 0.01 G
+000B DCMD Deceleration command 1 2 0.01 G
+000C PPOW Push-current limiting value 1 2 %
+000D LPOW Load current threshold 1 2 %
+000E CTLF Control flag specification 1 2
* Addresses starting with “+” indicate offsets.