IAI RoboNet Operation Manual page 172

(3) Examples of Queries/Responses (Axis 1, direct numerical specification mode)
[1] Query format for normal operation
Write all data required for axis operation (position, positioning band, speed, acceleration/deceleration, push-current
limiting value) to the registers.
Query
Field name
Header
Slave address
Function code
Starting address
Starting address
Number of registers
Number of registers
Bytes
New data 1
New data 1
New data 2
New data 2
New data 3
New data 3
New data 4
New data 4
New data 5
New data 5
New data 6
New data 6
New data 7
New data 7
New data 8
New data 8
Error check
Trailer
Total bytes
Sent Query:
Received Response:
152
RTU mode data
(8 bits)
None
3F H
10 H
(upper) F6 H
(lower) 0C H
(upper) 00 H
(lower) 08 H
10 H
(upper) 3A H
(lower) 98 H
(upper) 00 H
(lower) 00 H
(upper) 00 H
(lower) 0A H
(upper) 00 H
(lower) 00 H
(upper) 00 H
(lower) 32 H
(upper) 00 H
(lower) 1E H
(upper) 00 H
(lower) 00 H
(upper) 00 H
(lower) 11 H
(CRC) 16 bits
None
3F10F60C0008103A980000000A0000
0032001E00000011406C
3F10F60C0008369A
Data length
(bytes)
-
1 Fixed.
1
2 Initial control signal register address of axis (1)
The number of registers is "8" corresponding to
2
new data 1 to 8.
1 Number of registers x 2 = 16 (10H)
1 each for upper
and lower words
2 Position data specification
150.00 mm = 15000 = 00003A98 H
1 each for upper
and lower words
2
1 each for upper
and lower words
2
Positioning Band
0.1 mm = 10 = 000A H
1 each for upper
and lower words
2
1 each for upper
Speed
and lower words
50 mm/sec = 50 = 0032 H
2
1 each for upper
Acceleration/deceleration
and lower words
0.30 G = 30 = 001E H
2
1 each for upper
Push-current limiting value
and lower words
0% = 0000 H
2
1 each for upper
Control signal
and lower words
Set SON and CSTR to "1."
2
2 Based on calculation result
-
Part 1 Specification
Remarks