IAI RoboNet - Page 66

46
Part 1 S
p
ecification
(3) Commands and Data Formats
The rewrite life of the position table memory is approx. 100,000 times. Accordingly, do not rewrite the position table
constantly.
[1] Position table data write commands
Relative address from beginning
Command name
CC-Link*8 DeviceNet
PROFIBUS
RS485SIO *1
PLC output (request) PLC input (response)
RY 2*/RX 2* +2 +4/+5 1000H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9
RY 5*/RX 5* +5 +10/+11
Position data *2
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH *3
Write target position
RY 7*/RX 7* +7 +14/+15 Cannot be used.
RY 2*/RX 2* +2 +4/+5 1001H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9
RY 5*/RX 5* +5 +10/+11
Positioning band data *4
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Write positioning
band
RY 7*/RX 7* +7 +14/+15 Cannot be used.
RY 2*/RX 2* +2 +4/+5 1002H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9
RY 5*/RX 5* +5 +10/+11
Speed data *5
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Write speed
RY 7*/RX 7* +7 +14/+15 Cannot be used.
RY 2*/RX 2* +2 +4/+5 1003H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9
RY 5*/RX 5* +5 +10/+11
Position data *2
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Write individual zone
boundary+
RY 7*/RX 7* +7 +14/+15 Cannot be used.
RY 2*/RX 2* +2 +4/+5 1004H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9
RY 5*/RX 5* +5 +10/+11
Position data *2
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Write individual zone
boundary-
RY 7*/RX 7* +7 +14/+15 Cannot be used.
RY 2*/RX 2* +2 +4/+5 1005H
RY 3*/RX 3* +3 +6/+7 Position number
RY 4*/RX 4* +4 +8/+9 Acceleration data *6
RY 5*/RX 5* +5 +10/+11 0
RY 6*/RX 6* +6 +12/+13 Axis number 0 to FH
Write acceleration
RY 7*/RX 7* +7 +14/+15 Cannot be used.
If the command has been
successful, the same value
set in the request is
returned as a response.
For error responses, refer
to (4), “Error Responses.”