IAI America ROBO Cylinder Series - Manual (Page 250)

6. Modbus
ASCII
242
Modbus
6.5.3 Servo ON/OFF <<SON>>
(1) Function
Control ON/OFF of the servo.
When “Servo ON” is specified by the new data, the servo will turn ON after elapse of the
manufacturer parameter “Servo ON delay time.” However, the following conditions must be satisfied:
x The EMG status bit in device status register 1 is 0.
x The major failure status bit in device status register 1 is 0.
x The enable status bit in device status register 2 is 1.
x The auto servo OFF status in the system status register is 0.
(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’, ‘3’ Servo ON/OFF command
Changed data [H] 4 Arbitrary Servo ON: ‘F’, ‘F’, ‘0’, ‘0’
Servo OFF: ‘0’, ‘0’, ‘0’, ‘0’
Error check [H] 2 LRC calculation
result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 17
Note If a teaching pendant or PC software is connected, the servo is turned OFF, and then the
teaching pendant/PC software is removed, all before the control establishes communication
with the host, the servo cannot be turned ON/OFF via commands received from with the
host.
In this case, restore the controller power, or make sure the connected tool of the SIO port is
removed while the servo is ON.
(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.