IAI RoboNet Operation Manual page 18

3.8 I/O Signals ................................................................................................................................................73
3.8.1
3.8.2
3.8.3
3.8.4
3.8.5
3.9 Modbus Gateway Mode of RS485 SIO ...................................................................................................110
3.9.1
3.9.2
3.9.9
3.9.4
Chapter 4 Controller Unit......................................................................................................................... 180
4.1 Overview .................................................................................................................................................180
4.1.1
4.1.2
4.2 Basic Specifications ................................................................................................................................182
4.3 Name/Function of Each Part and External Dimensions. .........................................................................183
4.3.1
4.3.2
4.3.3
4.3.4
4.3.5
4.3.6
4.3.7
4.3.8
4.3.9
4.3.10 Encoder Cable Connector...........................................................................................................190
4.3.11 External Dimensions ...................................................................................................................191
4.4 Parameters .............................................................................................................................................192
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
4.5 Notes on ROBO Rotary...........................................................................................................................210
4.6 Notes on ROBO Gripper .........................................................................................................................212
Chapter 5 Simple Absolute R Unit .......................................................................................................... 214
5.1 Overview .................................................................................................................................................214
5.2 How to Read the Model Name ................................................................................................................215
5.3 Specifications ..........................................................................................................................................216
5.3.1
5.3.2
5.4 Name/Function of Each Part and External Dimensions ..........................................................................218
5.4.1
5.4.2
5.4.3
5.5 Notes
Chapter 6 Extension unit ......................................................................................................................... 224
6.1 Overview .................................................................................................................................................224
6.2 Specifications ..........................................................................................................................................225
6.3 Product Configuration .............................................................................................................................226
I/O Signal Timings ........................................................................................................................73
I/O Signal Functions......................................................................................................................74
Basic Operation Timings...............................................................................................................85
Other Basic Operations.................................................................................................................97
Command Transmission .............................................................................................................109
Overview.....................................................................................................................................110
Modbus/RTU Protocol Specification ...........................................................................................111
Protocol Format ..........................................................................................................................115
3.9.3.1 Gateway Address Map ...............................................................................................115
3.9.3.2 Query List ...................................................................................................................117
3.9.3.3 Read Holding Registers (Query using FC = 03H).......................................................119
3.9.3.4 Preset Single Register (Query using FC = 06H).........................................................130
3.9.3.5 Preset Multiple Registers (Query using FC = 10H).....................................................147
Function Block ............................................................................................................................165
3.9.4.1 Dedicated ROBONET Function Block ........................................................................165
3.9.4.2 What Is A Function Block? .........................................................................................176
Features......................................................................................................................................180
How to Read the Model Name....................................................................................................180
Name of Each Part......................................................................................................................183
LED Indicators ............................................................................................................................184
Brake Release Switch.................................................................................................................186
User Setting Switches.................................................................................................................186
Axis Number Setting Switch........................................................................................................186
ROBONET Communication Connector.......................................................................................187
Simple Absolute R Unit Connector..............................................................................................187
Power-supply Input Terminal Block ............................................................................................187
Motor Cable Connector...............................................................................................................189
Parameter List ............................................................................................................................192
Parameters Relating to Actuator Stroke......................................................................................194
Parameters Relating to Actuator Operating Characteristics........................................................196
Parameters Relating to External Interface ..................................................................................206
Parameters Relating to Servo Gain Adjustment .........................................................................207
General Specifications ................................................................................................................216
Backup Battery ...........................................................................................................................217
Name of Each Part......................................................................................................................218
Functions ....................................................................................................................................219
External Dimensions ...................................................................................................................222
...................................................................................................................................................223
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