IAI America REXT - Manual (Page 14)

3.9 Modbus Gateway Mode of RS485 SIO
3.9.1 Overview........................................................................................................... 142
3.9.2 Modbus/RTU Protocol Specification .............................................................. 143
3.9.3 Protocol Format
3.9.3.1 Gateway Address Map ....................................................................... 147
3.9.3.2 Query List .......................................................................................... 149
3.9.3.3 Read Holding Registers (Query using FC = 03H)............................. 151
3.9.3.4 Preset Single Register (Query using FC = 06H)............................... 162
3.9.3.5 Preset Multiple Registers (Query using FC = 10H)......................... 179
3.9.4 Function Block
3.9.4.1 Dedicated ROBONET Function Block ............................................. 197
3.9.4.2 What Is Function Block?.................................................................... 208
Chapter 4 Controller Unit
4.1 Overview
4.1.1 Features........................................................................................................... 212
4.1.2 How to Read the Model Name........................................................................ 212
4.2 Basic Specifications........................................................................................................... 214
4.3 Name/Function of Each Part and External Dimensions
4.3.1 Name of Each Part.......................................................................................... 215
4.3.2 LED Indicators ............................................................................................... 216
4.3.3 Brake Release Switch...................................................................................... 218
4.3.4 User Setting Switches..................................................................................... 218
4.3.5 Axis Number Setting Switch........................................................................... 218
4.3.6 ROBONET Communication Connector.......................................................... 219
4.3.7 Simple Absolute R Unit Connector................................................................. 219
4.3.8 Power-supply Input Terminal Block .............................................................. 219
4.3.9 Motor Cable Connector.................................................................................... 221
4.3.10 Encoder Cable Connector.............................................................................. 222
4.3.11 External Dimensions..................................................................................... 223
4.4 Parameters
4.4.1 Parameter List ................................................................................................ 224
4.4.2 Parameters Relating to Actuator Stroke........................................................ 226
4.4.3 Parameters Relating to Actuator Operating Characteristics........................ 228
4.4.4 Parameters Relating to External Interface ................................................... 238
4.4.5 Parameters Relating to Servo Gain Adjustment ...........................................239
4.5 Notes on ROBO Rotary...................................................................................................... 242
4.6 Notes on ROBO Gripper ................................................................................................... 244
Chapter 5 Simple Absolute R Unit
5.1 Overview............................................................................................................................. 246
5.2 How to Read the Model Name .......................................................................................... 247
5.3 Specifications
5.3.1 General Specifications ................................................................................... 248
5.3.2 Backup Battery ............................................................................................... 249
5.4 Name/Function of Each Part and External Dimensions
5.4.1 Name of Each Part.......................................................................................... 250
5.4.2 Functions ........................................................................................................ 251
5.4.3 External Dimensions....................................................................................... 254
5.5 Notes ...................................................................................................................................255
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