IAI America ROBO Cylinder Series - Manual (Page 130)

5. Modbus RTU
122
Modbus
5.4.5 Brake Forced Release <<BKRL>>
(1) Function
Brake control is linked to servo ON/OFF. The brake can be forcefully released even when the
servo is ON.
(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 0408 Break forced release
command
Changed data [H] 2 Arbitrary Brake forced release: FF00
H
Normal: 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.