IAI America ROBO Cylinder Series - Manual (Page 180)

5. Modbus RTU
172
Modbus
(5) Detailed explanation of registers
„ Target Position (PCMD)
This register specifies the target position using absolute coordinates or by an relative distance.
The value of this register is set in units of 0.01 mm in a range of -999999 to 999999
(FFF0BDC1 (Note) to 000F423F
H
). When the absolute coordinate is indicated, operation starts
with 0.2mm in front (Note 2) of the soft limit setting value as the target position if the setting of the
parameter exceeds the soft limit. The actuator will start moving when the lower word of this
register (symbol: PCMD, address: 9900
H
) is rewritten. In other words, a numerical movement
command can be issued simply by writing a target position in this register.
Note 1 To set a negative value, use a two’s complement.
Note 2 For a revolution axis set to Index Mode, the soft limit setting value is the target position.
„ Positioning band Specification Register (INP)
This register is used in two different ways depending on the type of operation. The first way is
the normal positioning operation, where it specifies the allowable difference between the target
position and current position to be used in the detection of position complete. The second way
is the push-motion operation, where it specifies the push-motion band. The value of this
register is set in units of 0.01 mm in a range of 1 to 999999 (1 to 000F423F
H
).
Whether the normal operation or push-motion operation is specified by the applicable bit in the
control flag specification register as explained later.
„ Speed Specification Register (VCMD)
This register specifies the moving speed in positioning. The value of this register is set in units
of 0.01 mm/sec in a range of 1 to 999999 (1 to 000F423F
H
). If the specified value exceeds the
maximum speed set by a parameter, an alarm will generate the moment a movement start
command is issued.
„ Individual Zone Boundaries r (ZNMP, ZNLP)
These registers output zone signals that are effective only during positioning, separately from
the zone boundaries set by parameters.
Set in ZNMP the positive zone signal output boundary expressed using absolute coordinates,
and set the negative zone signal output boundary in ZNLP. The corresponding bit in the zone
register remains ON while the current position is within these positive and negative boundaries.
The value of this register is set in units of 0.01 mm, and in a range of -999999 to 999999
(FFF0BDC1 (Note to 000F423F
H
) for both registers. However, ZNMP must be greater than ZNLP.
Set the same value in both ZNMP and ZNLP to disable the individual zone output.
(Note) To set a negative value, use a two’s complement.
„ Acceleration specification register (ACMD)
This register specifies the acceleration during positioning. The value of this register is set in
units of 0.01 G in a range of 1 to 300 (1 to 012C
H
). If the specified value exceeds the
maximum acceleration set by a parameter, an alarm will generate the moment a movement
start command is issued.