IAI America ROBO Cylinder Series - Manual (Page 299)

6. Modbus
ASCII
291
Modbus
(Example 6) Perform a push-motion operation for 20 mm from the 50-mm position at a
current-limiting value of 70%.
Target
position
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
50 20 100 0.3 70
Push-motion
operation
(bit1 = 1,
bit2 = 0, 1)
„ Query: 01 10 9900 0009 12 0000 1388 0000 07D0 0000 2710 001E 00B2 0006 BC[CR][LF]
„ Response: 01 10 9900 0009 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
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’, ‘0’ 39393030
The start address is the target position
specification register 9900
H
.
Number of registers ‘0’, ‘0’, ‘0’, ‘9’ 30303039
Specify 9900
H
through 9908
H
as the
addresses to be written.
Number of bytes ‘1’, ‘2’ 3132 9 (registers) x 2 = 18 (bytes) o 12
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
‘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’, ‘7’, ‘D’, ‘0’ 30374430 20 [mm] × 100 = 2000 o 07D0
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
New data 8 (push)
Input unit (%)
‘0’, ‘0’, ‘B’, ‘2’ 30304232 70 [%] o B2
H
New data 9 (control flag) ‘0’, ‘0’, ‘0’, ‘6’ 30303036
(Push setting)
1000b o 0006
H
Error check ‘B’, ‘C’ 4243 LRC check calculation result o BC
H
Trailer ‘CR’, ‘LF’ 0D0A
Total number of bytes 55