IAI RoboNet, Руководство по эксплуатации

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153
Part 1 Specification
[2] Query format for normal operation where only the position is changed
Use the same format in [1] by changing only the position data, to operate the axis.
z
Query
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None -
Slave address 3F H 1 Fixed.
Function code 10 H 1
Starting address (upper) F6 H
Starting address (lower) 0C H
2 Initial control signal register address of axis (1)
Number of registers (upper) 00 H
Number of registers (lower) 02 H
2
The number of registers is “2” corresponding to
new data 1 to 2.
Bytes 04 H 1 Number of registers x 2 = 4 (04 H)
New data 1 (upper) 03 H
New data 1 (lower) E8 H
1 each for upper
and lower words
2
New data 2 (upper) 00 H
New data 2 (lower) 00 H
1 each for upper
and lower words
2
Position data specification
10.00 mm = 1000 = 000003E8 H
Error check (CRC) 16 bits 2 Based on calculation result
Trailer None -
Total bytes 13
„
Sent Query: 3F10F60C00020403E80000976C
„
Received Response: 3F10F60C0002B69D
Thereafter, turn the CSTR signal from “0” to “1.”