IAI America ROBO Cylinder Series - Manual (Page 293)

6. Modbus
ASCII
285
Modbus
(Example 3) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving.
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control
flag
50 0.1 100 o 50 0.3 Need not be set.
(1) Start the movement at a speed of 100 mm/s. [Refer to Example [2], “Move by changing the
speed” above.]
„ Query : 01 10 9900 0007 0E 0000 1388 0000 000A 0000 2710 001E 47[CR][LF]
„ Response : 01 10 9900 0007 4F[CR][LF]
(2) Change the speed to 50 mm/s.
„ Query : 01 10 9904 0002 04 0000 1388 B1[CR][LF]
„ Response : 01 10 9904 0002 50[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 (Change the speed to 50 mm/s. [Refer to the above example for the
query message used to start the movement at 100 mm/s.])
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’, ‘4’
39393034 The start address is the target
position specification register 9904
H
.
Number of registers
‘0’, ‘0’, ‘0’, ‘2’
30303032 Specify 9904
H
through 9905
H
as the
addresses to be written.
Number of bytes ‘0’, ‘4’ 3034 2 (registers) × 2 = 4 (bytes) o 4
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0. Changed data 5, 6 [H]
Input unit (0.01 mm/s) ‘1’, ‘3’, ‘8’, ‘8’ 31333838 50 [mm] × 100 = 5000 o 1388
H
Error check ‘B’, ‘1’ 4231 LRC check calculation result o B1
H
Trailer ‘CR’, ‘LF’ 0D0A
Total number of bytes 27