IAI America ROBO Cylinder Series - Manual (Page 283)

6. Modbus
ASCII
275
Modbus
Note As soon as a position number is written to this register, the actuator starts moving. The
CSTR (start signal) is not required.
A response message to be sent following a successful change should be the same as the query.
[3] Move to position No. 1 using the position number specification register (address 0D03
H
).
Before this operation, perform the operation in example [1] above to complete a home return.
Query (Silent intervals are inserted before and after the query.)
First time 01 06 0D 03 00 01 E8 --- Specify position No. 1
Second time 01 06 0D 00 10 00 DC --- Turn OFF the CSTR (start signal)
Third time 01 06 0D 00 10 08 D4 --- Turn ON the CSTR (start signal)
Field ASCII mode 8-bit data Converted ASCII
code data [H]
Start ‘:’ 3A
Slave address [H] ‘0’, ‘1’ 3031
Function code [H] ‘0’, ‘6’ 3036
Start address [H] First time: ‘0’, ‘D’, ‘0’, ‘3‘
Second time: ‘0’, ‘D’, ‘0’, ‘0’
Third time: ‘0’, ‘D’, ‘0’, ‘0‘
30443033
30443030
30443030
Changed data [H] First time: ‘0’, ‘0’, ‘0’, ‘1’
Second time: ‘1’, ‘0’, ‘0’, ‘0’
Third time: ‘1’, ‘0’, ‘0’, ‘8’
30303031
31303030
31303038
Error check [H] First time: ‘E’, ‘8’(in accordance with CRC
calculation)
Second time: ‘D’, ‘C’(in accordance with
CRC calculation)
Third time: ‘D’, ‘4’(in accordance with CRC
calculation)
4538
4443
4434
End ‘CR’, ‘LF’ 0D0A
Note To keep the previous status, send the previous status even if there is no change. As in the
example above, keep the servo ON bit as 1 at home return as well.
If the change is successful, the response message will be the same as the query.