IAI America ROBO Cylinder Series - Manual (Page 69)

5. Modbus RTU
61
Modbus
FC Function Symbol Function Summary
Combination
with PIO
Broad-
cast Page
03 Zone output signal
read
ZONS
This function reads the following 6 statuses:
[1] LS2 (PIO pattern solenoid valve mode
[3-point type]
[2] LS1 (PIO pattern solenoid valve mode
[3-point type]
[3] LS0 (PIO pattern solenoid valve mode
[3-point type]
[4] Position zone
[5] Zone 2
[6] Zone 1
{ 106
03
Positioning
completed position
number read
POSS
This function reads the following 9 statuses:
[1] Position complete number bit 256
[2] Position complete number bit 128
[3] Position complete number bit 64
[4] Position complete number bit 32
[5] Position complete number bit 16
[6] Position complete number bit 8
[7] Position complete number bit 4
[8] Position complete number bit 2
[9] Position complete number bit 1
{ 108
03 Controller status
signal read 5
SSSE
This function reads the following 2 statuses:
[1] Cold start level alarm occurred/not
occurred
[2] RTC (calendar) function used/not used
(ERC3, PCON-CA/CFA type only)
{ 110
03 Force feedback data
write
FBFC The current measurement on the load cell is
read in units of 0.01 N.
{ 112
05
Safety speed
enable/disable
switching
SFTY This function issues a command to
enable/disable the safety speed.
{ 116
05 Servo ON/OFF SON This function issues a command to turn the
servo ON/OFF.
{ 118
05 Alarm reset ALRS This function issues a command to reset
alarms/cancel the remaining travel.
{ 120
05 Forced brake
release
BKRL This function issues a command to forcibly
release the brake.
{ 122
05 Pause STP This function issues a pause command. { 124
05 Home return HOME This function issues a home return operation
command.
{ 126
05 Positioning
operation start
CSTR This signal starts a position number
specified movement.
{ 128
05 Jog/inch switching JISL This function switches between the jogging
mode and the inching mode
{ 130
05 Teaching mode
command
MOD This function switches between the normal
mode and the teaching mode
{ 132
05 Position data load
command
TEAC This function issues a current position load
command in the teaching mode.
{ 134
05 Jog+ command JOG+ This function issues a jogging/inching
command in the direction opposite home.
{ 136
05 Jog- command JOG- This function issues a jogging/inching
command in the direction of home.
{ 138