Lika RD6 Series, User Manual

Page: 70 / 92

Byte 1 Not used.
WARNING
For safety reasons the
Extra commands register [0x29]
holding register
parameter is not stored in the memory. So it is required to be set after each
power-on.
Control Word [0x2A]
[Register 43, Unsigned16, rw]
This variable contains the commands to be sent in real time to the Slave in order
to manage it.
Byte structure of the
Control Word [0x2A]
register:
byte MSB LSB
bit 15 … 8 7 … 0
msb lsb msb lsb
Byte 0
Jog +
bit 0 If the bit 4
Incremental jog
= 0, as long as
Jog +
= 1, the
Slave moves toward the positive direction; otherwise if the
bit 4
Incremental jog
= 1, the activation of this bit causes a
single step toward the positive direction having the length,
expressed in pulses, set next to the
Jog step length [0x14]
item to be executed at rising edge; then the actuator stops
and waits for another command. Velocity, acceleration and
deceleration are performed according to the values set next
to the
Jog speed [0x0D] , Acceleration [0x07] and
Deceleration [0x08]
parameters respectively. For a detailed
description of the jog control see on page 42.
Jog +
,
Jog -
and
Start
functions cannot be enabled
simultaneously. For instance: if a
Jog +
command is sent to
the Slave while it is moving to the target position, the jog
command will be ignored; if
Jog +
and
Jog -
commands are
sent simultaneously, the device will not move or, if already
moving, it will stop its movement.
Jog -
bit 1 If the bit 4
Incremental jog
= 0, as long as
Jog -
= 1, the
Slave moves toward the negative direction; otherwise if the
bit 4
Incremental jog
= 1, the activation of this bit causes a
MAN RD6 MB E 1.1 Programming parameters 70 of 92
RD6 Modbus®