IAI America REXT - Manual (Page 188)


Part 1 Specification
Chapter 3 Gateway R unit
164
Part 1 Specification
(4) Use of Gateway Commands
The position table can be read/written by writing request commands and data in the command area of the gateway unit.
For details, refer to the specifications of the gateway unit.
An address map of the command area is shown below.
Register address Register address
F602 Request command Response command F702
F603 Data 0 Data 0 F703
F604 Data 1 Data 1 F704
F605 Data 2 Data 2 F705
F606 Data 3 Data 3 F706
The table below lists the data that can be handled with these commands.
Data name Register size Data size Unit Data range
Target position 2 words 32-bit signed integer 0.01 mm -999999 ~ 999999
Positioning band 2 words 32-bit integer 0.01 mm Up to 999999
Speed (Note) 2 words 32-bit integer 0.01 mm/sec 0 ~ 999999
Individual zone boundary+ 2 words 32-bit integer 0.01 mm Within the actuator stroke
Individual zone boundary- 2 words 32-bit integer 0.01 mm Within the actuator stroke
Acceleration 1 word 16-bit integer 0.01 G
Deceleration 1 word 16-bit integer 0.01 G
Within the maximum actuator
acceleration/deceleration
Push-current limiting value 1 word 8-bit integer % 100% corresponds to FFH.
Load current threshold 1 word 8-bit integer % 0 ~ 100 (00H ~ FFH)
Caution
When writing to the position table, the speed is specified in units of 0.01 mm/sec. Take note that in the direct numerical
specification mode, the speed is specified in units of 1.0 mm/sec.
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