IAI America ROBO Cylinder Series - Manual (Page 161)

5. Modbus RTU
153
Modbus
(3) Query format
1 register = 2 bytes = 16-bit data
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
if broadcast is specified
Function code [H] 1 10 Numerical value specification
Start address [H] 2 Arbitrary Refer to 5.6.1 (2), “Start
address list”
Number of registers [H] 2 Arbitrary Refer to 5.6.1 (2), “Start
address list”
Number of bytes [H] 1 In accordance with
the number of
registers above
Enter the value twice as large
as the number of registers
specified above
Changed data 1 [H] 2 Refer to 5.6.1 (2), “Start
address list ”
Changed data 2 [H] 2 Refer to 5.6.1 (2), “Start
address list”
Changed data 3 [H] 2 Refer to 5.6.1 (2), “Start
address list”
: : :
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes Up to 256
(4) Response format
When normally changed, the response message responds with a copy of the query message
excluding the number of bytes and changed data.
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
if broadcast is specified
Function code [H] 1 10 Numerical value specification
Start address [H] 2 Arbitrary Refer to 5.6.1 (2), “Start
address list”
Number of registers [H] 2 Arbitrary Refer to 5.6.1 (2), “Start
address list”
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes Up to 8