User Manual

162
Part 1 SpecicationChapter 3 Gateway R unit
160
Part 1 S
p
ecification
(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.
z Query
Field name
RTU mode data
(8 bits)
Data length
(bytes)
Remarks
Header None
-
Slave address 3F H
1 Fixed.
Function code 10 H
1
Starting address (upper) F6 H
Starting address (lower) 0C H
2 Initial control signal register address of axis (1)
Number of registers (upper) 00 H
Number of registers (lower) 08 H
2
The number of registers is “8” corresponding to
new data 1 to 8.
Bytes
10 H
1 Number of registers x 2 = 16 (10H)
New data 1 (upper) 3A H
New data 1 (lower) 98 H
1 each for upper
and lower words
2
New data 2 (upper) 00 H
New data 2 (lower) 00 H
1 each for upper
and lower words
2
Position data specification
150.00 mm = 15000 = 00003A98 H
New data 3 (upper) 00 H
New data 3 (lower) 0A H
1 each for upper
and lower words
2
New data 4 (upper) 00 H
New data 4 (lower) 00 H
1 each for upper
and lower words
2
Positioning Band
0.1 mm = 10 = 000A H
New data 5 (upper) 00 H
New data 5 (lower) 32 H
1 each for upper
and lower words
2
Speed
50 mm/sec = 50 = 0032 H
New data 6 (upper) 00 H
New data 6 (lower) 1E H
1 each for upper
and lower words
2
Acceleration/deceleration
0.30 G = 30 = 001E H
New data 7 (upper) 00 H
New data 7 (lower) 00 H
1 each for upper
and lower words
2
Push-current limiting value
0% = 0000 H
New data 8 (upper) 00 H
New data 8 (lower) 11 H
1 each for upper
and lower words
2
Control signal
Set SON and CSTR to “1.”
Error check (CRC) 16 bits
2 Based on calculation result
Trailer None
-
Total bytes
Sent Query: 3F10F60C0008103A980000000A0000
0032001E00000011406C
Received Response: 3F10F60C0008369A
-184-