IAI America ROBO Cylinder Series - Manual (Page 132)

5. Modbus RTU
124
Modbus
5.4.6 Pause <<STP>>
(1) Function
If the pause command is transmitted during movement, the actuator decelerates and stops. If the
status is set back to normal again, the actuator resumes moving for the remaining distance.
As long as the pause command is being transmitted, all motor movement is inhibited.
If the alarm reset command bit is set while the actuator is paused, the remaining travel will be
cancelled.
If this bit is set during home return, the movement command will be held if the actuator has not yet
reversed after contacting the mechanical end. If the actuator has already reversed after contacting
the mechanical end, home return will be repeated from the beginning.
(2) Query format
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is
specified
Function code [H] 1 05 Write to a single coil DO.
Start address [H] 2 040A Pause command
Changed data [H] 2 Arbitrary Pause command: FF00
H
Normal : 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(3) Response
If the change is successful, the response message will be the same as the query.
If invalid data is sent, an exception response (refer to section 7) will be returned, or no response
will be returned.