IAI America ROBO Cylinder Series - Manual (Page 109)

5. Modbus RTU
101
Modbus
5.3.17 Deviation Reading <>
(1) Function
This bit reads the deviation over a 1-ms period between the position command value and the
feedback value (actual position). The unit is pulse. The number of pulses per one motor revolution
in mechanical angle varies depending on the encoder used.
(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 900E Deviation monitor
Number of registers [H] 2 0002 Reading addresses 900E
H
to
900F
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 registers = 4 bytes
Data [H] 4 Deviation monitor Deviation monitor [Hex]
The unit is pulse.
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes 9