IAI America ROBO Cylinder Series - Manual (Page 5)

Modbus
4.3.3 Structure of Modbus Status Registers..................................................................................................51
4.3.4 Data of Modbus Status Registers .........................................................................................................52
5 Modbus RTU ........................................................................................................................................ 55
5.1 Message Frames (Query and Response)..................................................................................... 56
5.2 List of RTU Mode Queries ............................................................................................................ 59
5.3. Data and Status Reading (Queries Using Code 03)..................................................................... 63
5.3.1 Reading Consecutive Multiple Registers..............................................................................................63
5.3.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> ............................................................66
5.3.3 Total moving count Reading <<TLMC>> .............................................................................................68
5.3.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) .......................................................70
5.3.5 Present Time Reading <<TIMN>>........................................................................................................72
5.3.6 Total FAN Driving Time Reading <<TIMN>>.......................................................................................75
5.3.7 Current Position Reading <<PNOW>> (in 0.01 mm units) .................................................................77
5.3.8 Present Alarm Code Reading <<ALMC>>...........................................................................................79
5.3.9 I/O Port Input Signal Status Reading <<DIPM>> ................................................................................81
5.3.10 I/O Port Output Signal Status Reading<<DOPM>> ............................................................................85
5.3.11 Controller Status Signal Reading 1 <<DSS1>>...................................................................................89
5.3.12 Controller Status Signal Reading 2 <<DSS2>>...................................................................................91
5.3.13 Controller Status Signal Reading 3 <<DSSE>> ..................................................................................93
5.3.14 Controller Status Signal Reading 4 <<STAT>>...................................................................................95
5.3.15 Current Speed Reading <<VNOW>>...................................................................................................97
5.3.16 Current Ampere Reading <<CNOW>> ................................................................................................99
5.3.17 Deviation Reading <<DEVI>>.............................................................................................................101
5.3.18 Total Time after Power On Reading <<STIM>>................................................................................103
5.3.19 Special Input Port Input Signal Status Reading<<SIPM>>...............................................................105
5.3.20 Zone Output Signal Status Reading<<ZONS>>................................................................................107
5.3.21 Position Complete Number Reading<<POSS>>.............................................................................109
5.3.22 Controller Status Signal Reading 5 <<SSSE>>.................................................................................111
5.3.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only............................................................113
5.4 Operation Commands and Data Rewrite (Query Using Code 05).............................................. 115
5.4.1 Writing to Coil........................................................................................................................................115
5.4.2 Safety Speed Enable/Disable Switching (SFTY)...............................................................................116
5.4.3 Servo ON/OFF <<SON>> ...................................................................................................................118
5.4.4 Alarm Reset <<ALRS>>......................................................................................................................120
5.4.5 Brake Forced Release <<BKRL>>.....................................................................................................122
5.4.6 Pause <<STP>>...................................................................................................................................124
5.4.7 Home Return <<HOME>>...................................................................................................................126
5.4.8 Positioning Start Command <<CSTR>> ............................................................................................128
5.4.9 Jog/Inch Switching <<JISL>>..............................................................................................................130
5.4.10 Teaching Mode Command <<MOD>>...............................................................................................132
5.4.11 Position Data Load Command <<TEAC>>........................................................................................134
5.4.12 Jog+ Command <<JOG+>>................................................................................................................136
5.4.13 Jog- Command <<JOG->>..................................................................................................................138
5.4.14 Start Positions 0 to 7 <<ST0 to ST7>>
Movement Command (Limited to PIO Patterns 4 and 5) .............................140
5.4.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected...........142
5.4.16 PIO/Modbus Switching Setting <<PMSL>> .......................................................................................144
5.4.17 Deceleration Stop <<STOP>> ............................................................................................................146