IAI America ROBO Cylinder Series - Manual (Page 302)

6. Modbus
ASCII
294
Modbus
6.7.2 Writing Position Table Data
(1) Function
Position table data can be changed using this query.
Every time an access is made to the start address list (address +0000
H
to +000E
H
), it is read out
of the non-volatile memory in the unit of 1 position data, and gets stored to the non-volatile memory
after the writing is executed.
* The number of times allowed to write to EEPROM is limited to approximately 100, 000 times due
to device restriction. If the position table data is updated frequently, the number of times allowed
to write to EEPROM may be exceeded, which may cause failures. Take caution not to cause
unexpected loops and similar in logic on the master side.
(2) Start address list
In a query input, each address is calculated using the formula below:
1000
H
+ (16 x Position number)
H
+ Address (Offset)
H
(Example) Change the speed command register for position No. 200
1000
H
+ (16 x 200 = 3200)
H
+ 4
H
= 1000
H
+ C80
H
+ 4
H
= 1C84
H
“1C84” becomes the input value for the start address field of this query.
Note The maximum position number varies depending on the controller model and the PIO
pattern currently specified.
„ Position data change resisters
Address Symbol Name Sign
Register
size
Byte
size
Input
unit
+0000 PCMD Target position { 2 4 0.01 mm
+0002 INP Positioning band 2 4 0.01 mm
+0004 VCMD Speed command 2 4 0.01 mm/sec
+0006 ZNMP Individual zone boundary + { 2 4 0.01 mm
+0008 ZNLP Individual zone boundary - { 2 4 0.01 mm
+000A ACMD Acceleration command 1 2 0.01 G
+000B DCMD Deceleration command 1 2 0.01 G
+000C PPOW Push-current limiting value 1 2 %
+000D LPOW Load current threshold 1 2 %
+000E CTLF Control flag specification 1 2
* Addresses starting with “+” indicate offsets.