IAI America ROBO Cylinder Series - Manual (Page 136)

5. Modbus RTU
128
Modbus
5.4.8 Positioning Start Command <<CSTR>>
(1) Function
If the rising edge of the positioning start command is detected (the data is first set to 0000
H
and
then changed to FF00
H
), the actuator will move to the position specified by the position number
stored in the position number specification register (POSR:0D03
H
). If nothing is done after the
position start command (FF00
H
is read and no new data is written), a position complete will not be
output even when the actuator enters the positioning band (write 0000
H
and restore the normal
status).
If this command is executed when home return has never been performed after the power was
turned on (when the HEND bit is 0), the actuator will perform home return and then start moving to
the target position.
* The target position, speed and all other operation parameters must be set in the position table
(nonvolatile memory) of the controller in advance.
(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 040C Positioning start command
Changed data [H] 2 Arbitrary Positioning start command:
FF00
H
Normal: 0000
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(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.