Part specification – IAI America REXT User Manual
Page 177
Part 1 Specification
Chapter 3 Gateway R unit
Part Specification
Forced Brake Release Command (BKRL)
Normally brake control is linked to the servo ON/OFF operations. However, the brake can be forcibly released while the
servo is ON, by using this command.
Query
Field name
RTU mode data
( bits)
Data length
(bytes)
Remarks
e
n
o
N
r
e
d
a
e
H
-
Slave address
F H
Fixed.
Function code
0 H
Starting address
(upper)
F H
Starting address
(lower)
0B H
Address of the control signal register of axis (0)
New data (data written) (upper)
0 H
New data (data written) (lower)
00 H
The BKRL signal is “.”
Error check
(CRC)
bits
Based on calculation result
e
n
o
N
r
e
li
a
r
T
-
Total bytes
Response
If the data has been changed (written) successfully, the response is the same as the query.
Actual Example
Sent Query:
F0F0B000CE
Received Response: F0F0B000CE
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