IAI America ROBO Cylinder Series - Manual (Page 140)

5. Modbus RTU
132
Modbus
5.4.10 Teaching Mode Command <<MOD>>
(1) Function
This bit switches between the normal operation mode and teaching mode.
(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
0414 Switch between the normal
mode and the teaching mode.
Changed data [H]
2
Arbitrary Teaching mode: FF00
H
Normal operation mode: 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.