IAI RoboNet Operation Manual page 178

Positioning Band Write 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
Error check
Trailer
Total bytes
Sent Query:
Received Response: 3F10F6020005969C
Caution
Each gateway command must be cleared after use. If the command area is not cleared, the next command cannot be
accepted.
Query sent in this example: 3F 06 F602 0000 1F5C
158
RTU mode data
(8 bits)
None
3F H
10 H
(upper) F6 H
(lower) 02 H
(upper) 00 H
(lower) 05 H
0A H
(upper) 10 H
(lower) 01 H
(upper) 00 H
(lower) 0A H
(upper) 00 H
(lower) 1E H
(upper) 00 H
(upper) 00 H
(upper) 00 H
(upper) 00 H
(CRC) 16 bits
None
3F10F60200050A1001000A001E0000
00000A17
Request command clear code
Request command area address
Data length
(bytes)
-
1 Fixed.
1
Initial request command register address of axis
2
(0)
2 The number of registers is 5.
1 Number of registers x 2 = 10 (0AH)
1 each for upper
and lower words Request command (positioning band write)
2
1 each for upper
and lower words Data 0: Position No. 10 is specified.
2
1 each for upper
and lower words Data 1: Lower word of positioning band data
2
1 each for upper
and lower words Data 2: Upper word of positioning band data
2
1 each for upper
and lower words Data 3: An axis number is specified (axis 0).
2
2 Based on calculation result (0A17)
-
19
Part 1 Specification
Remarks