IAI America ROBO Cylinder Series - Manual (Page 157)

5. Modbus RTU
149
Modbus
(3) Query format
Specify the address and data of the register whose data is to be changed in the query message.
Data to be changed shall be specified as 16-bit data in the changed data area of the query.
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
)
00
H
when broadcast is
specified
Function code [H] 1 06 Writing to registers
Start address [H] 2 Arbitrary Refer to 5.5.1 (2), “Start
address list.”
Changed data [H] 2 Arbitrary 4.3.2 (5) to 4.3.2. (7)
Refer to List of changed data.
Error check [H] 2 In accordance with
the calculation result
End None Silent interval
Total number of bytes 8
(4) Response
If the change is successful, the response message will be the same as the query.
If invalid data is sent, an exception response (refer to section 7) will be returned, or no response
will be returned.