IAI America ROBO Cylinder Series - Manual (Page 179)

5. Modbus RTU
171
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
when broadcast is specified
Function code [H] 1 10 Numerical value command
Start address [H] 2 Arbitrary Refer to 5.6.2 (2), “Start address list.”
Number of registers [H] 2 Arbitrary Refer to 5.6.2 (2), “Start address list.”
Number of bytes [H] 1 In accordance
with the above
registers
A value corresponding to twice the number
of registers specified above is input.
Changed data 1 [H] 2 Refer to “5.6.2 (2) Start address list.”
Changed data 2 [H] 2 Refer to “5.6.2 (2) Start address list.”
Changed data 3 [H] 2 Refer to “5.6.2 (2) Start address list.”
: : :
Error check [H] CRC (16 bits)
End None Silent interval
Total number of bytes Up to 256
(4) Response format
If the change is successful, a response message that is effectively a copy of the query message,
except for the byte count and new data, will be returned.
Field
Number of
data items
(Number of
bytes)
RTU mode
8-bit data
Remarks
Start None Silent mode
Slave address [H] 1 Arbitrary Axis number + 1 (01
H
to 10
H
)
00
H
when broadcast is specified
Function code [H] 1 10 Numerical value command
Start address [H] 2 Arbitrary Refer to 5.6.2 (2), “Start address list.”
Number of registers [H] 2 Arbitrary Refer to 5.6.2 (2), “Start address list.”
Error check [H] 2 CRC (16 bits)
End None Silent interval
Total number of bytes Up to 8