IAI RoboNet, Operation Manual

Page: 155 / 398

135
Part 1 Specification
‹
Start Command (CSTR)
z
Query
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 06 H 1
Starting address (upper) F6 H
Starting address (lower) 0B H
2 Address of the control signal register of axis (0)
New data (data written) (upper) 00 H
New data (data written) (lower) 11 H
2 The SON and CSTR signals are “1.”
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 8
z
Response
If the data has been changed (written) successfully, the response is the same as the query.
z
Actual Example
„
Sent Query: 3F06F60B00110F52
„
Received Response: 3F06F60B00110F52
[Function]
Upon detection of the signal edge for executing the position command when the new data is in normal state, the content
of the position number register will be read and positioning will be performed to the target position of the corresponding
position data.
If the position start command for the new data remains ON, the position complete signal (PEND) will not be output even
when the actuator enters the positioning band. However, the completed position number signal (PM***) will be output.
If this command is executed when no home return operation has been performed after the power on (when HEND = “0”),
the actuator will perform home return operation and then start moving to the target position.