IAI America ROBO Cylinder Series - Manual (Page 295)

6. Modbus
ASCII
287
Modbus
(Example 4) Move in the incremental mode by setting the pitch to 10 mm.
Pitch
[mm]
Positioning
band
[mm]
Speed
[mm/s]
Acceleration/
deceleration
[G]
Push
[%]
Control flag
10 0.1 100 0.3 0
Incremental
(bit3 = 1)
„ Query: 01 10 9900 0009 12 0000 03E8 0000 000A 0000 2710 001E 0000 0008 E9[CR][LF]
„ Response: 01 10 9900 0009 4D[CR][LF]
-- The query message is copied, except for the number of bytes and new data, and returned
as a response.
ᴾ
„ᴾ
Breakdown of Query Message
Field
ASCII mode
fixed character
string
Converted
ASCII code
data [H]
Remarks
Header ‘:’ 3A
Slave address ‘0’, ‘1’ 3031 Axis No. 0 + 1
Function code ‘1’, ‘0’ 3130
Start address ‘9’, ‘9’, ‘0’, ‘0’ 39393030
The start address is the target position
specification register 9900
H
.
Number of registers ‘0’, ‘0’, ‘0’, ‘9’ 30303039
Specify 9900
H
through 9908
H
as the
addresses to be written.
Number of bytes ‘1’, ‘2’ 3132 9 (registers) x 2 = 18 (bytes) o 12
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0.
Changed data 1, 2
(target position)
Input unit (0.01 mm)
‘0’, ‘3’, ‘E’, ‘8’ 30334538 10 [mm] × 100 = 1000 o 03E8
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0.
Changed data 3, 4
(positioning band)
Input unit (0.01 mm)
‘0’, ‘0’, ‘0’, ‘A’ 30303041 0.1 [mm] × 100 = 10 o 000A
H
‘0’, ‘0’, ‘0’, ‘0’ 30303030 All upper bits of the 32-bit data are 0. Changed data 5, 6
(speed)
Input unit (0.01 mm/sec)
‘2’, ‘7’, ‘1’, ‘0’ 32373130 100 [mm/s] × 100 = 10000 o 2710
H
Changed data 7
(acceleration/deceleration)
Input unit (0.01 G)
‘0’, ‘0’, ‘1’, ‘E’ 30303145 0.3 [G] × 100 = 30 o 001E
H
Changed data 8 (push)
Input unit (%)
‘0’, ‘0’, ‘0’, ‘0’ 30303030 0 [%] o 0
H
Changed data 9 (control
flag)
‘0’, ‘0’, ‘0’, ‘8’ 30303038
(Incremental setting)
1000b o 0008
H
Error check ‘E’, ‘9’ 4539 LRC check calculation result o E9
H
Trailer ‘CR’, ‘LF’ 0D0A
Total number of bytes 55