CHAPTER 13 RS-485 COMMUNICATIONS

 Immediate value data

The immediate value status of immediate data is configured as follows:

Data

4 bytes

Configuration

Immediate value status

Immediate value M code

Not used

1 byte

2 bytes

Format (default value)

Refer to [Table 13-5].

0-FFh (FFh)

00h fixed

[Table 13-5] Immediate value status

Bit

Item

Description

5 M code output timing 0: Output during

start up

4 M code selection

0: Disable

0 Command method 0: ABS

Others Not used

0 fixed

Default value

1: Output after positioning

completion

1: Enable

1: INC

 Positioning data(batch)

Positioning data are 20 bytes long for each set, organized as follows:

Data

Configuration

Format, setting range (default value)

Positioning status 1 byte

Refer to [Table 13-6].

M code

1 byte

0-FFh (FFh)

Stop timer

2 bytes

(H) 1h = 0.01 ms (*)

(L) 0.00-655.35 (0.00)

Stop position

4 bytes (HH) 1h = 1 unit

(HL) 0 - ±2000000000 (0)

(LH)

(LL)

Rotation speed

4 bytes (HH) 1h = 0.01 r/min

bytes

(HL) 0.01 - Max. rotation speed (0.01)

(LH)

(LL)

Acceleration time 4 bytes (HH) 1h = 0.1 ms

(HL) 0.0 - 99999.9 (0.0)

(LH)

(LL)

Deceleration time 4 bytes (HH)

(HL)

(LH)

(LL)

(*) By setting PA2_42 (stop timer decimal point position), 0 and 1 indicate 0.01 ms

and 0.001 ms, respectively.

[Table 13-6] Positioning status

Bit

Item

5 M code output timing

4 M code

Selection

2,1 Step mode

0 Command method

Others Not used

0: Output during

startup

0: Disable

Description

1: Output after

positioning completion

1: Enable

0,0: No specification

0,1: Data continuation (CO)

1,0: Cycle end (CEND)

1,1: Setup impossible

0: ABS

1: INC

fixed to 0

Default value

0,0

Modbus RTU Communications 13-25