IAI America ROBO Cylinder Series - Manual (Page 258)

6. Modbus
ASCII
250
Modbus
6.5.7 Home return <<HOME>>
(1) Function
Home return operation will start if a rising edge in the home return command signal is detected (the
data is first set to 0000
H
and then changed to FF00
H
). Once the home return is completed, the
HEND bit will become 1. This command can be input as many times as desired even after home
return has been completed once.
(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’, ‘B’ Home return command
Changed data [H] 4 Arbitrary Execute home return: ‘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.