Modbus – IAI America ROBO Cylinder Series User Manual
Page 5
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 <<ALAO, ALCO, ALTO>> ............................................................66
5.3.3
Total moving count Reading <<TLMC>> .............................................................................................68
5.3.4
Total moving distance Reading <<ODOM>> (in 0.01 mm units) .......................................................70
5.3.5
Present Time Reading <<TIMN>>........................................................................................................72
5.3.6
Total FAN Driving Time Reading <<TIMN>>.......................................................................................75
5.3.7
Current Position Reading <<PNOW>> (in 0.01 mm units) .................................................................77
5.3.8
Present Alarm Code Reading <<ALMC>>...........................................................................................79
5.3.9
I/O Port Input Signal Status Reading <<DIPM>> ................................................................................81
5.3.10
I/O Port Output Signal Status Reading<<DOPM>> ............................................................................85
5.3.11
Controller Status Signal Reading 1 <<DSS1>>...................................................................................89
5.3.12
Controller Status Signal Reading 2 <<DSS2>>...................................................................................91
5.3.13
Controller Status Signal Reading 3 <<DSSE>> ..................................................................................93
5.3.14
Controller Status Signal Reading 4 <<STAT>>...................................................................................95
5.3.15
Current Speed Reading <<VNOW>>...................................................................................................97
5.3.16
Current Ampere Reading <<CNOW>> ................................................................................................99
5.3.17
Deviation Reading <<DEVI>>.............................................................................................................101
5.3.18
Total Time after Power On Reading <<STIM>>................................................................................103
5.3.19
Special Input Port Input Signal Status Reading<<SIPM>>...............................................................105
5.3.20
Zone Output Signal Status Reading<<ZONS>>................................................................................107
5.3.21
Position Complete Number Reading<<POSS>>.............................................................................109
5.3.22
Controller Status Signal Reading 5 <<SSSE>>.................................................................................111
5.3.23
Force Feedback Data Read <<FBFC>> --- 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 <<SON>> ...................................................................................................................118
5.4.4
Alarm Reset <<ALRS>>......................................................................................................................120
5.4.5
Brake Forced Release <<BKRL>>.....................................................................................................122
5.4.6
Pause <<STP>>...................................................................................................................................124
5.4.7
Home Return <<HOME>>...................................................................................................................126
5.4.8
Positioning Start Command <<CSTR>> ............................................................................................128
5.4.9
Jog/Inch Switching <<JISL>>..............................................................................................................130
5.4.10
Teaching Mode Command <<MOD>>...............................................................................................132
5.4.11
Position Data Load Command <<TEAC>>........................................................................................134
5.4.12
Jog+ Command <<JOG+>>................................................................................................................136
5.4.13
Jog- Command <<JOG->>..................................................................................................................138
5.4.14
Start Positions 0 to 7 <<ST0 to ST7>>
Movement Command (Limited to PIO Patterns 4 and 5) .............................140
5.4.15
Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected...........142
5.4.16
PIO/Modbus Switching Setting <<PMSL>> .......................................................................................144
5.4.17
Deceleration Stop <<STOP>> ............................................................................................................146