IAI America ROBO Cylinder Series - Manual (Page 126)

5. Modbus RTU
118
Modbus
5.4.3 Servo ON/OFF <<SON>>
(1) Function
Control ON/OFF of the servo.
When “Servo ON” is specified by the new data, the servo will turn ON after elapse of the
manufacturer parameter “Servo ON delay time.” However, the following conditions must be
satisfied:
x The EMG status bit in device status register 1 is 0.
x The major failure status bit in device status register 1 is 0.
x The enable status bit in device status register 2 is 1.
x The auto servo OFF status in the system status register is 0.
(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 0403 Servo ON/OFF command
Changed data [H] 2 Arbitrary Servo ON: FF00
H
Servo OFF: 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
* If a teaching pendant or PC software is connected before the control establishes communication
with the host, the servo is turned OFF, and then the teaching pendant/PC software is removed,
the servo cannot be turned ON/OFF via commands received from with the host.
In this case, restore the RC controller power, or make sure the SIO port connection is removed
while the servo is ON.
(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.