Applied-motion ST10-Q-NE Uživatelský manuál stáhnout pdf (Strana 6)

920-0072 Rev E

9/9/2014

Modbus User Manual

Examples

Point-to-Point Moves

Four pieces of data are required to fully deﬁne a point-to-point move. Acceleration, Deceleration, Distance,

and Velocity. Followed of course by the move command itself. To command such a move over Modbus, we must

ﬁrst write to the aforementioned control registers, then send the command.

Now it’s time for the command itself. The most common point-to-point move is the Feed to Length which

uses the SCL command FL. In Modbus we do the following:

The drive will execute the move command immediately, pulling the relevant parameter data from the above

registers. It is immediately ready to accept another command. Note, it is not necessary to send parameter data

with each command, unless this data changes between moves. For example, to repeat a move simply send the

command again, leaving the relevant paramter data unchanged.

Launch a Q Program

It is possible to execute a stored Q program over Modbus using the QX command (opcode 0x78). This

command requires a value to be written to Parameter 1, the ﬁrst of 5 registers set aside for command-dependant

parameter data.

To launch the program at segment 1, we would use the SCL command QX1. Over Modbus, the following

procedure applies.

First, conﬁgure the parameter data (only Parameter 1 is used by this command).

Now we can send the QX command itself.

Note, to stop a command or interrupt a Q program, either the SK or SKD commands may be used.

Function Register Value Notes

Acceleration 40028 100 Units: 10 RPM/sec

Deceleration 40029 100 Units: 10 RPM/sec

Velocity 40030 240 Units: 0.25 RPM

Distance 40031..32 20000 This register is affected by Endianness setting

Function Register Value Notes

FL Command 40125 102 0x66 (Hexadecimal) is equal to 102

Function Register Value Notes

Parameter 1 40126 1 Q segment to execute. Integer: 1..12

Function Register Value Notes

QX Command 40125 120 0x78 (Hexadecimal) is equal to 102

Function Register Value Notes

SK Command 40125 225 0xE1 (Hexadecimal) is equal to 225

Function Register Value Notes

SKD Command 40125 226 0xE2 (Hexadecimal) is equal to 226

1 2 3 4 5 6 7 8 9 10 11

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Applied-motion ST10-Q-NE Uživatelský manuál Strana 6