Modbus
4.3.3
Structure of Modbus Status Registers..................................................................................................51
4.3.4
Data of Modbus Status Registers .........................................................................................................52
5
Modbus RTU ........................................................................................................................................ 55
5.1
Message Frames (Query and Response)..................................................................................... 56
5.2
List of RTU Mode Queries ............................................................................................................ 59
5.3.
Data and Status Reading (Queries Using Code 03)..................................................................... 63
5.3.1
Reading Consecutive Multiple Registers..............................................................................................63
5.3.2
Alarm Detail Description Reading <> ............................................................66
5.3.3
Total moving count Reading <> .............................................................................................68
5.3.4
Total moving distance Reading <> (in 0.01 mm units) .......................................................70
5.3.5
Present Time Reading <>........................................................................................................72
5.3.6
Total FAN Driving Time Reading <>.......................................................................................75
5.3.7
Current Position Reading <> (in 0.01 mm units) .................................................................77
5.3.8
Present Alarm Code Reading <>...........................................................................................79
5.3.9
I/O Port Input Signal Status Reading <> ................................................................................81
5.3.10
I/O Port Output Signal Status Reading<> ............................................................................85
5.3.11
Controller Status Signal Reading 1 <>...................................................................................89
5.3.12
Controller Status Signal Reading 2 <>...................................................................................91
5.3.13
Controller Status Signal Reading 3 <> ..................................................................................93
5.3.14
Controller Status Signal Reading 4 <>...................................................................................95
5.3.15
Current Speed Reading <>...................................................................................................97
5.3.16
Current Ampere Reading <> ................................................................................................99
5.3.17
Deviation Reading <>.............................................................................................................101
5.3.18
Total Time after Power On Reading <>................................................................................103
5.3.19
Special Input Port Input Signal Status Reading<>...............................................................105
5.3.20
Zone Output Signal Status Reading<>................................................................................107
5.3.21
Position Complete Number Reading<>.............................................................................109
5.3.22
Controller Status Signal Reading 5 <>.................................................................................111
5.3.23
Force Feedback Data Read <> --- SCON-CA Only............................................................113
5.4
Operation Commands and Data Rewrite (Query Using Code 05).............................................. 115
5.4.1
Writing to Coil........................................................................................................................................115
5.4.2
Safety Speed Enable/Disable Switching (SFTY)...............................................................................116
5.4.3
Servo ON/OFF <> ...................................................................................................................118
5.4.4
Alarm Reset <>......................................................................................................................120
5.4.5
Brake Forced Release <>.....................................................................................................122
5.4.6
Pause <>...................................................................................................................................124
5.4.7
Home Return <>...................................................................................................................126
5.4.8
Positioning Start Command <> ............................................................................................128
5.4.9
Jog/Inch Switching <>..............................................................................................................130
5.4.10
Teaching Mode Command <>...............................................................................................132
5.4.11
Position Data Load Command <>........................................................................................134
5.4.12
Jog+ Command <>................................................................................................................136
5.4.13
Jog- Command <>..................................................................................................................138
5.4.14
Start Positions 0 to 7 <>
Movement Command (Limited to PIO Patterns 4 and 5) .............................140
5.4.15
Load Cell Calibration Command <> --- A dedicated load cell must be connected...........142
5.4.16
PIO/Modbus Switching Setting <> .......................................................................................144
5.4.17
Deceleration Stop <> ............................................................................................................146
