IAI RoboNet, Руководство по эксплуатации

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159
Part 1 Specification
z
Speed Write 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) 02 H
2
Initial request command register address of axis
(0)
Number of registers (upper) 00 H
Number of registers (lower) 05 H
2 The number of registers is 5.
Bytes 0A H 1 Number of registers x 2 = 10 (0AH)
New data 1 (upper) 10 H
New data 1 (lower) 02 H
1 each for upper
and lower words
2
Request command (speed write)
New data 2 (upper) 00 H
New data 2 (lower) 0A H
1 each for upper
and lower words
2
Data 0: Position No. 10 is specified.
New data 3 (upper) 00 H
New data 3 (lower) C8 H
1 each for upper
and lower words
2
Data 1: Lower word of speed data
New data 4 (upper) 00 H
New data 4 (upper) 00 H
1 each for upper
and lower words
2
Data 2: Upper word of speed data
New data 5 (upper) 00 H
New data 5 (upper) 00 H
1 each for upper
and lower words
2
Data 3: An axis number is specified (axis 0).
Error check (CRC) 16 bits 2 Based on calculation result (5735)
Trailer None -
Total bytes 19
„
Sent Query: 3F10F60200050A1002000A00C80000
00005735
„
Received Response: 3F10F6020005969C
Caution
Each gateway command must be cleared after use. If the command area is not cleared, the next command cannot be
accepted.
Query sent in this example: 3F 06 F602 0000 1F5C
Request command clear code
Request command area address