IAI America ROBO Cylinder Series - Manual (Page 144)

5. Modbus RTU
136
Modbus
5.4.12 Jog+ Command <<JOG+>>
(1) Function
x The actuator performs either jog or inching operation.
If the jog+ command (changed data FF00
H
) is sent when the jog/inch switching command (5.4.9)
is set to 0000
H
(set to jog), the actuator will jog in the direction opposite home. The speed and
acceleration/deceleration speed conform to the PIO jog speed set by user parameter No. 26 and
rated acceleration/deceleration speed, respectively.
If the jog+ command (changed data 0000
H
) is sent or the jog- command (5.4.13, changed data
FF00
H
) is sent while the actuator is moving jog, the actuator will decelerate to a stop.
x If the jog+ command rising edge is set (the data is first set to 0000H and changed to FF00H)
while the jog/inch switching command (5.4.9) is FF00
H
(set to inching), the actuator will inch in
the direction opposite home. The speed, travel and acceleration/deceleration speed conform to
user parameter No. 26 (PIO jogging speed), user parameter No. 48 (PIO inching distance), and
rated acceleration/deceleration speed, respectively.
(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 0416 Jog+ command
Changed data [H] 2 Arbitrary Jog+ 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.