IAI RoboNet, Руководство по эксплуатации

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Part 1 Specification
[5] Monitor current speed – Axis (1)
z
Query
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Starting address (upper) F7 H
Starting address (lower) 10 H
2 Address of the current speed data of axis (1)
Number of registers (upper) 00 H
Number of registers (lower) 01 H
2 Number of registers (1 register = 1 word): 1
Error check (CRC)
Based on
calculation result
2 (B3 65)
Trailer None -
Total bytes 8
z
Response
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 03 H 1
Data bytes 02 H 1 1-word register x 1 = 2 bytes
Data 1 (upper) Arbitrary
Data 1 (lower) Arbitrary
1 each for upper
and lower words
2
Current speed data
Error check (CRC)
Based on
calculation result
2
Trailer None -
Total bytes
z
Actual Example
„
Sent Query: 3F03F7100001B365
„
Received Response: 3F030200009181
(Explanation) The current speed data is “0000H.”
In other words, the current speed is “0” in this example.
The current speed is indicated in either units of 1.0 mm/sec or 0.1 mm/sec.
Switching of setting unit is available in the special parameter setting of ROBONET Gateway
Parameter Setting Tool. (available in the tool version 1.0.4.0 or later)