Applied Motion ST10-Q-NE - Manual (Page 6)

6 920-0072 Rev E
9/9/2014
Modbus User Manual
Examples
Point-to-Point Moves
Four pieces of data are required to fully define a point-to-point move. Acceleration, Deceleration, Distance,
and Velocity. Followed of course by the move command itself. To command such a move over Modbus, we must
first write to the aforementioned control registers, then send the command.
Now it’s time for the command itself. The most common point-to-point move is the Feed to Length which
uses the SCL command FL. In Modbus we do the following:
The drive will execute the move command immediately, pulling the relevant parameter data from the above
registers. It is immediately ready to accept another command. Note, it is not necessary to send parameter data
with each command, unless this data changes between moves. For example, to repeat a move simply send the
command again, leaving the relevant paramter data unchanged.
Launch a Q Program
It is possible to execute a stored Q program over Modbus using the QX command (opcode 0x78). This
command requires a value to be written to Parameter 1, the first of 5 registers set aside for command-dependant
parameter data.
To launch the program at segment 1, we would use the SCL command QX1. Over Modbus, the following
procedure applies.
First, configure the parameter data (only Parameter 1 is used by this command).
Now we can send the QX command itself.
Note, to stop a command or interrupt a Q program, either the SK or SKD commands may be used.
Function Register Value Notes
Acceleration 40028 100 Units: 10 RPM/sec
Deceleration 40029 100 Units: 10 RPM/sec
Velocity 40030 240 Units: 0.25 RPM
Distance 40031..32 20000 This register is affected by Endianness setting
Function Register Value Notes
FL Command 40125 102 0x66 (Hexadecimal) is equal to 102
Function Register Value Notes
Parameter 1 40126 1 Q segment to execute. Integer: 1..12
Function Register Value Notes
QX Command 40125 120 0x78 (Hexadecimal) is equal to 102
Function Register Value Notes
SK Command 40125 225 0xE1 (Hexadecimal) is equal to 225
Function Register Value Notes
SKD Command 40125 226 0xE2 (Hexadecimal) is equal to 226