IAI America ROBO Cylinder Series - Manual (Page 266)

6. Modbus
ASCII
258
Modbus
6.5.11 Position Data Load Command <>
(1) Function
The current position is acquired by writing this command (write FF00
H
) when the teaching mode
command (6.5.10) is FF00
H
(teaching command).
The current position data will be written in the position number specified by the position number
specification register when the aforementioned condition was detected.
If other position data fields are empty, the default parameter values will be written at the same time
in the empty fields other than the target position (positioning band INP, speed VCMD,
acceleration/deceleration speed ACMD, and control flag CTLF).
After sending this command (write FF00
H
), keep the status as is for 20 ms or longer.
(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’, ‘5’ Position data load command
Changed data [H] 4 Arbitrary Position data load command: ‘F’, ‘F’, ‘0’, ‘0’
Normal: ‘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.