IAI America ROBO Cylinder Series - Manual (Page 264)

6. Modbus
ASCII
256
Modbus
6.5.10 Teaching Mode Command <>
(1) Function
This bit switches between the normal operation mode and teaching mode.
(2) Query format
Field Number of
characters
ASCII mode
character string
(fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is specified
Function code [H] 2 ‘0’, ‘5’ Write to a single coil DO.
Start address [H] 4 ‘0’, ‘4’ ‘1’, ‘4’ Switch between the normal mode and
the teaching mode.
Changed data [H] 4 Arbitrary Teaching mode: ‘F’, ‘F’, ‘0’, ‘0’
Normal operation mode: ‘0’, ‘0’, ‘0’, ‘0’
Error check [H] 2 LRC calculation
result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(3) Response
If the change is successful, the response message will be the same as the query.
If invalid data is sent, an exception response (refer to section 7) will be returned, or no response will
be returned.