IAI RoboNet Operation Manual page 67

Command name
Write deceleration RY 2*/RX 2*
RY 3*/RX 3*
RY 4*/RX 4*
RY 5*/RX 5*
RY 6*/RX 6*
RY 7*/RX 7*
Write push-current RY 2*/RX 2*
limiting value *7
RY 3*/RX 3*
RY 4*/RX 4*
RY 5*/RX 5*
RY 6*/RX 6*
RY 7*/RX 7*
Write load current RY 2*/RX 2*
threshold
RY 3*/RX 3*
RY 4*/RX 4*
RY 5*/RX 5*
RY 6*/RX 6*
RY 7*/RX 7*
*1 In byte address specification, the smaller byte address on the left corresponds to the upper byte of 1-word data, while the
larger byte address on the right corresponds to the lower byte of 1-word data.
• Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).
*2
Example) To set +25.4 mm, specify "0009ECH" (decimal number: 2540).
• The maximum settable value is +9999.99 mm = 999999 (decimal number) = 0F423FH (hexadecimal number).
• Since a negative value is indicated as a 2's complement, the most significant bit becomes "1."
• Set position data within the soft stroke range.
*3 Axis numbers (0) to (15) correspond to data 00 to 0FH.
• Set as a hexadecimal number using a 32-bit signed integer (unit: 0.01 mm).
*4
Example) To set +25.4 mm, specify "000009ECH" (decimal number: 2540).
• Set within the soft stroke range.
• Set as a hexadecimal number using a 32-bit integer (unit: 0.01 mm/sec).
*5
Example) To set 200 mm/sec, specify "000000C8H" (decimal number: 200).
• Set as a hexadecimal number using a 16-bit integer (unit: 0.01 G).
*6
Example) To set 0.2 G, specify "0014H" (decimal number: 20).
• The maximum settable value is 2G, specifying "00C8H" (decimal number: 200)
*7 If push-current limiting value is not set in the position table before the write command is executed, the data will not be
rewritten.
*8 The asterisk (*) in CC-Link addresses is a value between 0 and F.
Relative address from beginning
CC-Link DeviceNet
+2
+3
+4
+5
+6
+7
+2
+3
+4
+5
+6
+7
+2
+3
+4
+5
+6
+7
PROFIBUS PLC output (request)
RS485SIO *1
+4/+5
+6/+7 Position number
+8/+9 Deceleration data *6
+10/+11
+12/+13 Axis number 0 to FH
+14/+15 Cannot be used.
+4/+5
+6/+7 Position number
+8/+9 0000 to 00FFH
(00FFH, maximum current)
+10/+11
+12/+13 Axis number 0 to FH
+14/+15 Cannot be used.
+4/+5
+6/+7 Position number
+8/+9 0000 to 00FFH
(00FFH, maximum current)
+10/+11
+12/+13 Axis number 0 to FH
+14/+15 Cannot be used.
Part 1 Specification
PLC input (response)
1006H
0
1007H
If the command has been
successful, the same value
set in the request is
returned as a response.
0
For error responses, refer
to (4), "Error Responses."
1008H
0
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