IAI America ROBO Cylinder Series - Manual (Page 254)

6. Modbus
ASCII
246
Modbus
6.5.5 Brake Forced Release <<BKRL>>
(1) Function
Brake control is linked to servo ON/OFF. The brake can be forcefully released even when the servo
is ON.
(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’, ‘8’ Break forced-release command
Changed data [H] 4 Arbitrary Brake forced release: ‘F’, ‘F’, ‘0’, ‘0’
Normal: ‘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.