IAI RoboNet Operation Manual page 155

Start Command (CSTR)
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:
[Function]
Upon detection of the signal edge for executing the position command when the new data is in normal state, the content
of the position number register will be read and positioning will be performed to the target position of the corresponding
position data.
If the position start command for the new data remains ON, the position complete signal (PEND) will not be output even
when the actuator enters the positioning band. However, the completed position number signal (PM***) will be output.
If this command is executed when no home return operation has been performed after the power on (when HEND = "0"),
the actuator will perform home return operation and then start moving to the target position.
RTU mode data
(8 bits)
None
3F H
06 H
(upper) F6 H
(lower) 0B H
00 H
11 H
(CRC) 16 bits
None
3F06F60B00110F52
3F06F60B00110F52
Data length
(bytes)
-
1 Fixed.
1
2 Address of the control signal register of axis (0)
2 The SON and CSTR signals are "1."
2 Based on calculation result
-
8
Part 1 Specification
Remarks
135