IAI RoboNet Operation Manual page 174

[3] Query format for normal operation where the position and speed are changed.
In this example, the same format in [2] is used by changing only the position data and speed, to operate the axis.
The following two queries are transmitted.
Query (Position data change)
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
Error check
Trailer
Total bytes
Query (Speed change)
Field name
Header
Slave address
Function code
Starting address
Starting address
Number of registers
Number of registers
Bytes
New data 1
New data 1
Error check
Trailer
Total bytes
Thereafter, turn the CSTR signal from "0" to "1."
154
RTU mode data
(8 bits)
None
3F H
10 H
(upper) F6 H
(lower) 0C H
(upper) 00 H
(lower) 02 H
04 H
(upper) 3A H
(lower) 98 H
(upper) 00 H
(lower) 00 H
(CRC) 16 bits
None
RTU mode data
(8 bits)
None
3F H
10 H
(upper) F6 H
(lower) 10 H
(upper) 00 H
(lower) 01 H
02 H
(upper) 00 H
(lower) C8 H
(CRC) 16 bits
None
Data length
(bytes)
-
1 Fixed.
1
Initial position data specification register
2
address of axis (1)
The number of registers is "2" corresponding to
2
new data 1 to 2.
1 Number of registers x 2 = 4 (04 H)
1 each for upper
and lower words
2 Position data specification
1 each for upper 150.00 mm = 15000 = 00003A98 H
and lower words
2
2 Based on calculation result (9A81)
-
13
Data length
(bytes)
-
1 Fixed.
1
2 Initial speed register address of axis (1)
The number of registers is "1" corresponding to
2
new data 1.
1 Number of registers x 2 = 2 (02 H)
1 each for upper
Speed
and lower words
200 mm/sec = 200 = 00C8 H
2
2 Based on calculation result (2B38)
-
11
Part 1 Specification
Remarks
Remarks