IAI America ROBO Cylinder Series - Manual (Page 248)

6. Modbus
ASCII
240
Modbus
6.5.2 Safety Speed Enable/Disable Switching (SFTY)
(1) Function
This query enables/disables the speed specified by user parameter No. 35, “Safety speed.”
Enabling the safety speed in the MANU mode will limit the speeds of all movement commands.
(2) Query format
Field Number of
characters
ASCII mode
character string
(fixed)
Remarks
Header 1 ‘:’
Slave address [H] 2 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is specified
Function code [H] 2 ‘0’, ‘5’ Write to a single coil DO.
Start address [H] 4 ‘0’, ‘4’ ‘0’, ‘1’ Safety speed command
Changed data [H] 4 Arbitrary Safety speed enabled: ‘F’, ‘F’, ‘0’, ‘0’
Safety speed disabled: ‘0’, ‘0’, ‘0’, ‘0’
Error check [H] 2 LRC calculation
result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
(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.