IAI America ROBO Cylinder Series - Manual (Page 270)

6. Modbus
ASCII
262
Modbus
6.5.13 Jog- Command <<JOG->>
(1) Function
x The actuator performs either jog or inching operation.
If the jog- command (changed data FF00
H
) is sent when the jog/inch switching command (6.5.9) is
set to 0000
H
(set to jog), the actuator will jog in the direction of home. The speed and
acceleration/deceleration speed conform to the PIO jog speed set by user parameter No. 26 and
rated acceleration/deceleration speed, respectively.
If the jog- command (changed data 0000
H
) is sent or the jog+ command (6.5.12, changed data
FF00
H
) is sent while the actuator is moving, the actuator will decelerate to a stop.
x If the jog- command rising edge is set while the jog/inch switching command (6.5.9) is FF00
H
(set
to inching), the actuator will inch in the direction of home. The speed, travel and
acceleration/deceleration speed conform to user parameter No. 26 (PIO jogging speed), user
parameter No. 48 (PIO inching distance), and rated acceleration/deceleration speed, respectively.
(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’ ‘1’, ‘7’ Jog- command
Changed data [H] 4 Arbitrary Jog- command: ‘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
(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.