IAI America ROBO Cylinder Series - Manual (Page 297)

6. Modbus
ASCII
289
Modbus
(Example 5) Change the speed from 100 mm/s to 50 mm/s while the actuator is moving.
Pitch
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
10 0.1 100 o 50 0.3 0
Incremental
(bit3 = 1)
(1) Start moving at a speed of 100 mm/s. [Refer to Example [4], “Moving in the incremental (pitch
feed) mode” above.]
„ Query : 01 10 9900 0009 12 0000 03E8 0000 000A 0000 2710 001E 0000 0008 E9[CR][LF]
„ Response : 01 10 9900 0009 4D[CR][LF]
(2) Change the speed to 50 mm/s.
„ Query : 01 10 9904 0005 0A 0000 1388 001E 0000 0008 82[CR][LF]
„ Response: 01 10 9904 0005 4D[CR][LF]
--- The query message is copied, except for the number of bytes and new data, and returned
as a response.
„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 No. 0 + 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’, ‘5’
30303032 Specify 9904
H
through 9908
H
as the
addresses to be written.
Number of bytes ‘0’, ‘A’ 3034 5 (registers) x 2 = 10(bytes) o A
H
‘0’, ‘0’, ‘0’, ‘0’
30303030
All upper bits of the 32-bit data are 0. Changed data 1, 2
(target position)
Input unit (0.01 mm)
‘1’, ‘3’, ‘8’, ‘8’
31333838 50 [mm/s] × 100 = 5000
ĺ 1388
H
Changed data 7
(acceleration/deceleration)
Input unit (0.01 G)
‘0’, ‘0’, ‘1’, ‘E’ 30303145 0.3 [G] × 100 = 30 ĺ 001E
H
Changed data 8 (push)
Input unit (%)
‘0’, ‘0’, ‘0’, ‘0’ 30303030 0 [%] ĺ 0
H
Changed data 9 (control
flag)
‘0’, ‘0’, ‘0’, ‘8’ 30303038
(Incremental setting)
1000b o 0008
H
Error check ‘8’, ‘2’ 3832 LRC check calculation result o 82
H
Trailer ‘CR’, ‘LF’ 0D0A
Total number of bytes 39