Fuji Electric ALPHA7, User Manual

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CHAPTER 13 MODBUS RTU COMMUNICATION
Transmission Protocol
13-25
13
 Positioning data(batch)
Positioning data are 20 bytes long for each set, organized as follows:
Configuration Format, setting range (default value)
Data 20 bytes
Positioning status 1 byte Refer to [Table 13-4].
M code 1 byte 0-FFh (FFh)
Stop timer 2 bytes (H) 1h = 0.01 [s] (*)
0.00-655.35 (0.00)
(L)
Stop position 4 bytes (HH) 1h = 1 [unit]
0 - ±2000000000 (0)
(HL)
(LH)
(LL)
Rotation speed 4 bytes (HH) 1h = 0.01 [r/min]
0.01 - Max. rotation speed (0.01)
(HL)
(LH)
(LL)
Acceleration time 4 bytes (HH) 1h = 0.1 [ms]
0.0 - 99999.9 (0.0)
(HL)
(LH)
(LL)
Deceleration time 4 bytes (HH)
(HL)
(LH)
(LL)
(*) By setting PA2_42 (stop timer decimal point position), 0 and 1 indicate 0.01 [s] and
0.001 [s], respectively.
[Table 13-4] Positioning status
Bit Item Description Default value
5 M code output timing 0: Output during
startup 1: Output after
positioning completion 0
4 M code
Selection 0: Disable 1: Enable 0
2,1 Step mode 0,0: No specification
0,1: Data continuation (CO)
1,0: Cycle end (CEND)
1,1: Setup impossible 0,0
0 Command method 0: ABS 1: INC 1
Others Not used fixed to 0 0

Positioning data (divided)
Positioning data are 4 bytes long for each set. The positioning status, M code, and the stop timer
are configured as follows. All other items are configured in the same way as positioning data
(batch).
DATA 4bytes
00h
00h
Positioning status
M code
DATA 4bytes
00h
00h
Stop timer (H)
Stop timer (L)