Modbus
5.5
Direct Writing of Control Information (Queries Using Code 06).................................................. 148
5.5.1
Writing to Registers ..............................................................................................................................148
5.6
Direct Writing of Positioning Data (Queries Using Code 10) ...................................................... 152
5.6.1
Numerical Value Movement Command .............................................................................................152
5.6.2
Writing Position Table Data .................................................................................................................170
6
Modbus ASCII .................................................................................................................................... 178
6.1
Message Frames (Query and Response)................................................................................... 179
6.2
ASCII Code Table ....................................................................................................................... 182
6.3
List of ASCII Mode Queries ........................................................................................................ 183
6.4.
Data and Status Reading (queries Using Code 03).................................................................... 187
6.4.1
Reading Consecutive Multiple Registers............................................................................................187
6.4.2
Alarm Detail Description Reading <> ..........................................................190
6.4.3
Total moving count Reading <> ...........................................................................................192
6.4.4
Total moving distance Reading <> (in 0.01 mm units) .....................................................194
6.4.5
Present Time Reading <>......................................................................................................196
6.4.6
Total FAN Driving Time Reading <>.....................................................................................199
6.4.7
Current Position Reading (in 0.01 mm units) Monitor <>..................................................201
6.4.8
Present Alarm Code Query <>.............................................................................................203
6.4.9
I/O Port Input Signal Status Reading <> ..............................................................................205
6.4.10
I/O Port Output Signal Status Reading <> .........................................................................209
6.4.11
Controller Status Signal Reading <>....................................................................................213
6.4.12
Controller Status Signal Reading 2 <>.................................................................................215
6.4.13
Controller Status Signal Reading 3 <> ................................................................................217
6.4.14
Controller Status Signal Reading 4 <>.................................................................................219
6.4.15
Current Speed Query <>.....................................................................................................221
6.4.16
Current Ampere Reading <> ..............................................................................................223
6.4.17
Deviation Reading <>.............................................................................................................225
6.4.18
Total Time after Power On Reading <>................................................................................227
6.4.19
Special Input Port Input Signal Status Query <>..................................................................229
6.4.20
Zone Output Signal Status Reading <>...............................................................................231
6.4.21
Position Complete Number Query <> .................................................................................233
6.4.22
Controller Status Signal 5 <>................................................................................................235
6.4.23
Force Feedback Data Read <> --- SCON-CA Only............................................................237
6.5
Operation Commands and Data Rewrite (Query Using Code 05).............................................. 239
6.5.1
Writing to Coil........................................................................................................................................239
6.5.2
Safety Speed Enable/Disable Switching (SFTY)...............................................................................240
6.5.3
Servo ON/OFF <> ...................................................................................................................242
6.5.4
Alarm Reset <>......................................................................................................................244
6.5.5
Brake Forced Release <>.....................................................................................................246
6.5.6
Pause <>...................................................................................................................................248
6.5.7
Home return <> ....................................................................................................................250
6.5.8
Positioning Start Command <> ............................................................................................252
6.5.9
Jog/Inch Switching <>..............................................................................................................254
6.5.10
Teaching Mode Command <>...............................................................................................256
6.5.11
Position Data Load Command <>........................................................................................258
6.5.12
Jog+ Command <>................................................................................................................260
6.5.13
Jog- Command <>..................................................................................................................262
6.5.14
Start Positions 0 to 7 <> (Limited to PIO Patterns 4 and 5).......................................264
6.5.15
Load Cell Calibration Command <> --- A dedicated load cell must be connected...........266
6.5.16
PIO/Modbus Switching Setting <> .......................................................................................268
6.5.17
Deceleration Stop <> ............................................................................................................270
