IAI America ROBO Cylinder Series - Manual (Page 291)

6. Modbus
ASCII
283
Modbus
[2] Move by changing the target position. (as well as data other than the target position).
Conditions: Want to move the actuator by changing the target position, speed and
acceleration/deceleration every time.
Write the target position specification register (9900
H
) through
acceleration/deceleration specification register (9906
H
) (Example 2)
Start of movement
(Example 2) Target position: 50 mm
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
50 0.1 100 0.3 Need not be set.
„ Query : 01 10 9900 0007 0E 0000 1388 0000 000A 0000 2710 001E 47[CR][LF]
„ Response : 01 10 9900 0007 4F[CR][LF]
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
ᴾ
„ᴾ
Breakdown of Query Message
Field ASCII mode
fixed character string
Converted ASCII
code data [H]
Remarks
Header ‘:’ 3A
Slave address ‘0’, ‘1’ 3031 Axis number + 1
Function code ‘1’, ‘0’ 3130
Start address
‘9’, ‘9’, ‘0’, ‘0’
39393030 The start address is the target position
specification register 9900
H
.
Number of registers
‘0’, ‘0’, ‘0’, ‘7’
30303039 Specify 9900
H
through 9906
H
as the
addresses to be written.
Number of bytes ‘0’, ‘E’ 3132 7 (registers) × 2 = 14 (bytes) o E
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0. New data 1, 2
(target position)
Input unit (0.01 mm)
‘1’, ‘3’, ‘8’, ‘8’
31333838
50 [mm] × 100 = 5000 o 1388
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0. New data 3, 4
(Positioning band)
Input unit (0.01 mm)
‘0’, ‘0’, ‘0’, ‘A’
30303041
0.1 [mm] × 100 = 10 o 000A
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0.
New data 5, 6 (Speed)
Input unit (0.01 mm/sec) ‘2’, ‘7’, ‘1’, ‘0’
32373130 100 [mm/s] ×100 = 10000
o 2710
H
New data 7
(Acceleration/deceleration)
Input unit (0.01 G)
‘0’, ‘0’, ‘1’, ‘E’
30303145
0.3 [G] × 100 =30 o 001E
H
Error check ‘4’, ‘7’ 3437 LRC checksum calculation result o 47
H
Trailer ‘CR’, ‘LF’ 0D0A
Total number of bytes 47