IAI RoboNet, Operation Manual

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Table of Contents
3.8 I/O Signals ................................................................................................................................................73
3.8.1 I/O Signal Timings ........................................................................................................................73
3.8.2 I/O Signal Functions......................................................................................................................74
3.8.3 Basic Operation Timings...............................................................................................................85
3.8.4 Other Basic Operations.................................................................................................................97
3.8.5 Command Transmission .............................................................................................................109
3.9 Modbus Gateway Mode of RS485 SIO ...................................................................................................110
3.9.1 Overview.....................................................................................................................................110
3.9.2 Modbus/RTU Protocol Specification ...........................................................................................111
3.9.9 Protocol Format ..........................................................................................................................115
3.9.3.1 Gateway Address Map ...............................................................................................115
3.9.3.2 Query List ...................................................................................................................117
3.9.3.3 Read Holding Registers (Query using FC = 03H).......................................................119
3.9.3.4 Preset Single Register (Query using FC = 06H) .........................................................130
3.9.3.5 Preset Multiple Registers (Query using FC = 10H).....................................................147
3.9.4 Function Block ............................................................................................................................165
3.9.4.1 Dedicated ROBONET Function Block ........................................................................165
3.9.4.2 What Is A Function Block? .........................................................................................176
Chapter 4 Controller Unit......................................................................................................................... 180
4.1 Overview .................................................................................................................................................180
4.1.1 Features......................................................................................................................................180
4.1.2 How to Read the Model Name ....................................................................................................180
4.2 Basic Specifications ................................................................................................................................182
4.3 Name/Function of Each Part and External Dimensions. .........................................................................183
4.3.1 Name of Each Part......................................................................................................................183
4.3.2 LED Indicators ............................................................................................................................184
4.3.3 Brake Release Switch.................................................................................................................186
4.3.4 User Setting Switches.................................................................................................................186
4.3.5 Axis Number Setting Switch........................................................................................................186
4.3.6 ROBONET Communication Connector.......................................................................................187
4.3.7 Simple Absolute R Unit Connector..............................................................................................187
4.3.8 Power-supply Input Terminal Block ............................................................................................187
4.3.9 Motor Cable Connector...............................................................................................................189
4.3.10 Encoder Cable Connector...........................................................................................................190
4.3.11 External Dimensions ...................................................................................................................191
4.4 Parameters .............................................................................................................................................192
4.4.1 Parameter List ............................................................................................................................192
4.4.2 Parameters Relating to Actuator Stroke......................................................................................194
4.4.3 Parameters Relating to Actuator Operating Characteristics........................................................196
4.4.4 Parameters Relating to External Interface ..................................................................................206
4.4.5 Parameters Relating to Servo Gain Adjustment .........................................................................207
4.5 Notes on ROBO Rotary...........................................................................................................................210
4.6 Notes on ROBO Gripper .........................................................................................................................212
Chapter 5 Simple Absolute R Unit .......................................................................................................... 214
5.1 Overview .................................................................................................................................................214
5.2 How to Read the Model Name ................................................................................................................215
5.3 Specifications ..........................................................................................................................................216
5.3.1 General Specifications ................................................................................................................216
5.3.2 Backup Battery ...........................................................................................................................217
5.4 Name/Function of Each Part and External Dimensions ..........................................................................218
5.4.1 Name of Each Part......................................................................................................................218
5.4.2 Functions ....................................................................................................................................219
5.4.3 External Dimensions ...................................................................................................................222
5.5 Notes ...................................................................................................................................................223
Chapter 6 Extension unit ......................................................................................................................... 224
6.1 Overview .................................................................................................................................................224
6.2 Specifications ..........................................................................................................................................225
6.3 Product Configuration .............................................................................................................................226