IAI RoboNet Operation Manual page 164

Position Data Load Command (PWRT)
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.
[Function]
When the PWRT signal changes from "0" to "1" while in the teaching mode (MODE = "1") and this condition is
maintained for 20 msec or more after it is recognized by the controller, the current position data will be written to the
target position corresponding to the position number in the command position number register effective at the time of
detection.
If the position table is empty, the default parameters will be written together in the data fields other than the target
position (positioning band, speed, acceleration/deceleration).
Actual Example (Axis 0)
Load the teaching position into No. 8 of the axis (0) position table.
Inching operation in the teaching mode (MODE = "1")
Specification of command position number (Ex: 8)
Position data load command
144
RTU mode data
(8 bits)
None
3F H
06 H
(upper) F6 H
(lower) 0B H
06 H
10 H
(CRC) 16 bits
None
Data length
(bytes)
-
1 Fixed.
1
2 Address of the control signal register of axis (0)
2 The MODE, PWRT and SON signals are "1."
2 (CD32) Based on calculation result
-
8
3F06F60B0530CC1A
(Repeated inching operations)
3F06F60B0430CD8A
3F06F60A00089F58
3F06F60B0610CD32
Part 1 Specification
Remarks