IAI RoboNet Operation Manual page 153

[3] Output control signals (Axis 0 = Positioner mode or simple direct mode)
An example of control signals of axis (0) is explained.
The configuration of the control signal register of axis (0) is shown below.
Address
Servo ON Command (SON)
Query
Field name
Header
Slave address
Function code
Starting address
Starting address
New data (data written) (upper)
New data (data written) (lower)
Error check
Trailer
Total bytes
Response
If the data has been changed (written) successfully, the response is the same as the query.
Actual Example
Sent Query:
Received Response:
RTU mode data
(8 bits)
None
3F H
06 H
(upper) F6 H
(lower) 0B H
00 H
10 H
(CRC) 16 bits
None
3F06F60B0010CE92
3F06F60B0010CE92
Data length
(bytes)
-
1 Fixed.
1
2 Address of the control signal register of axis (0)
2
2 Based on calculation result
-
8
Part 1 Specification
Remarks
133