IAI America ROBO Cylinder Series - Manual (Page 107)

5. Modbus RTU
99
Modbus
5.3.16 Current Ampere Reading <>
(1) Function
This bit reads the monitor data of the motor current (torque current command value), indicated in
units of mA.
(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 900C Current ampere monitor
Number of registers [H]
2
0002 Reading addresses 900C
H
to
900D
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 04 Reading 2 register = 4 bytes
Data [H] 4 Motor current monitor Motor current monitor [Hex]
The unit is mA.
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 9