IAI RoboNet, Руководство по эксплуатации

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Part 1 Specification
[3] Query format for normal operation where the position and speed are changed.
In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis.
The following two queries are transmitted.
z
Query (Position data change)
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 position data specification 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) 3A H
New data 1 (lower) 98 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
150.00 mm = 15000 = 00003A98 H
Error check (CRC) 16 bits 2 Based on calculation result (9A81)
Trailer None -
Total bytes 13
z
Query (Speed change)
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) 10 H
2 Initial speed register address of axis (1)
Number of registers (upper) 00 H
Number of registers (lower) 01 H
2
The number of registers is “1” corresponding to
new data 1.
Bytes 02 H 1 Number of registers x 2 = 2 (02 H)
New data 1 (upper) 00 H
New data 1 (lower) C8 H
1 each for upper
and lower words
2
Speed
200 mm/sec = 200 = 00C8 H
Error check (CRC) 16 bits 2 Based on calculation result (2B38)
Trailer None -
Total bytes 11
Thereafter, turn the CSTR signal from “0” to “1.”