IAI America ROBO Cylinder Series - Manual (Page 101)

5. Modbus RTU
93
Modbus
5.3.13 Controller Status Signal Reading 3 <>
(1) Function
This bit reads internal status (expansion device) of the controller.
[Refer to 4.3.2 (14), “Data of expansion device status register.”]
(2) Query format
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Start address [H]
2
9007 Expansion device status
register
Number of registers [H] 2 0001 Reading address 9007
H
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 8
(3) Response format
A response message contains 16 bits of data per register.
Field Number of data items
(number of bytes)
RTU mode
8-bit data
Remarks
Start None Silent interval
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
Function code [H] 1 03 Register reading
Number of data bytes [H] 1 02 Reading 1 register = 2 bytes
Data [H] 2 Expansion status Expansion status [Hex]
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 7