IAI America ROBO Cylinder Series - Manual (Page 177)

5. Modbus RTU
169
Modbus
[7] Note (changing positioning band during movement)
The positioning band cannot be changed while the actuator is moving.
Conditions: Change the target position, speed and acceleration/deceleration each time the
actuator is moved, with the positioning band changed at a given timing during
movement.
(Cannot be changed. If data is written, the data is reflected in the next
positioning.)
Write the target position specification register (9900
H
) through
acceleration/deceleration specification register (9906
H
)
Start normal operation
Write the positioning band specification registers (9902
H
and 9903
H
)
The actuator continues with the normal operation at the original positioning band setting
Supplement: Writing the positioning band specification registers alone cannot effect an actual
movement command.
Therefore, the data changed by writing the positioning band specification
registers (9902
H
and 9903
H
) will become effective when the next movement
command is executed.