IAI America ROBO Cylinder Series - Manual (Page 6)

Modbus
5.5 Direct Writing of Control Information (Queries Using Code 06).................................................. 148
5.5.1 Writing to Registers ..............................................................................................................................148
5.6 Direct Writing of Positioning Data (Queries Using Code 10) ...................................................... 152
5.6.1 Numerical Value Movement Command .............................................................................................152
5.6.2 Writing Position Table Data .................................................................................................................170
6 Modbus ASCII .................................................................................................................................... 178
6.1 Message Frames (Query and Response)................................................................................... 179
6.2 ASCII Code Table ....................................................................................................................... 182
6.3 List of ASCII Mode Queries ........................................................................................................ 183
6.4. Data and Status Reading (queries Using Code 03).................................................................... 187
6.4.1 Reading Consecutive Multiple Registers............................................................................................187
6.4.2 Alarm Detail Description Reading <<ALAO, ALCO, ALTO>> ..........................................................190
6.4.3 Total moving count Reading <<TLMC>> ...........................................................................................192
6.4.4 Total moving distance Reading <<ODOM>> (in 0.01 mm units) .....................................................194
6.4.5 Present Time Reading <<TIMN>>......................................................................................................196
6.4.6 Total FAN Driving Time Reading <<TIMN>>.....................................................................................199
6.4.7 Current Position Reading (in 0.01 mm units) Monitor <<PNOW>>..................................................201
6.4.8 Present Alarm Code Query <<ALMC>>.............................................................................................203
6.4.9 I/O Port Input Signal Status Reading <<DIPM>> ..............................................................................205
6.4.10 I/O Port Output Signal Status Reading <<DOPM>> .........................................................................209
6.4.11 Controller Status Signal Reading <<DSS1>>....................................................................................213
6.4.12 Controller Status Signal Reading 2 <<DSS2>>.................................................................................215
6.4.13 Controller Status Signal Reading 3 <<DSSE>> ................................................................................217
6.4.14 Controller Status Signal Reading 4 <<STAT>>.................................................................................219
6.4.15 Current Speed Query <<VNOW>>.....................................................................................................221
6.4.16 Current Ampere Reading <<CNOW>> ..............................................................................................223
6.4.17 Deviation Reading <<DEVI>>.............................................................................................................225
6.4.18 Total Time after Power On Reading <<STIM>>................................................................................227
6.4.19 Special Input Port Input Signal Status Query <<SIPM>>..................................................................229
6.4.20 Zone Output Signal Status Reading <<ZONS>>...............................................................................231
6.4.21 Position Complete Number Query <<POSS>> .................................................................................233
6.4.22 Controller Status Signal 5 <<SSSE>>................................................................................................235
6.4.23 Force Feedback Data Read <<FBFC>> --- SCON-CA Only............................................................237
6.5 Operation Commands and Data Rewrite (Query Using Code 05).............................................. 239
6.5.1 Writing to Coil........................................................................................................................................239
6.5.2 Safety Speed Enable/Disable Switching (SFTY)...............................................................................240
6.5.3 Servo ON/OFF <<SON>> ...................................................................................................................242
6.5.4 Alarm Reset <<ALRS>>......................................................................................................................244
6.5.5 Brake Forced Release <<BKRL>>.....................................................................................................246
6.5.6 Pause <<STP>>...................................................................................................................................248
6.5.7 Home return <<HOME>> ....................................................................................................................250
6.5.8 Positioning Start Command <<CSTR>> ............................................................................................252
6.5.9 Jog/Inch Switching <<JISL>>..............................................................................................................254
6.5.10 Teaching Mode Command <<MOD>>...............................................................................................256
6.5.11 Position Data Load Command <<TEAC>>........................................................................................258
6.5.12 Jog+ Command <<JOG+>>................................................................................................................260
6.5.13 Jog- Command <<JOG->>..................................................................................................................262
6.5.14 Start Positions 0 to 7 <<ST0 to ST7>> (Limited to PIO Patterns 4 and 5).......................................264
6.5.15 Load Cell Calibration Command <<CLBR>> --- A dedicated load cell must be connected...........266
6.5.16 PIO/Modbus Switching Setting <<PMSL>> .......................................................................................268
6.5.17 Deceleration Stop <<STOP>> ............................................................................................................270