Modbus – IAI America ROBO Cylinder Series User Manual
Page 202
6. Modbus
ASCII
194
Modbus
6.4.4 Total moving distance Reading <
(1) Function
This bit reads the total moving distance in units of 1m.
(2) Query format
Field
Number of characters ASCII mode character
string (fixed)
Remarks
Header
1
‘:’
Slave address [H]
2
Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H]
2
‘0’, ‘3’
Register reading
Start address [H]
4
‘8’, ‘4’, ‘0’, ‘2’
Total moving distance
Number of registers [H]
4
‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 8402
H
to 8403
H
Error check [H]
2
LRC calculation result
Trailer
2
‘CR’, ‘LF’
Total number of bytes
17
(3) Response format
A response message contains 16 bits of data per register.
Field
Number of characters ASCII mode character
string (fixed)
Remarks
Header
1
‘:’
Slave address [H]
2
Arbitrary
Axis number + 1
(01
H
to 10
H
)
Function code [H]
2
‘0’, ‘3’
Register reading
Number of data bytes [H]
2
‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data 1 [H]
4
Total moving distance
Total moving distance
[Hex] (most significant
digit)
Data 2 [H]
4
Total moving distance
Total moving distance
[Hex] (least significant
digit)
Error check [H]
2
LRC calculation result
Trailer
2
CR’, ‘LF’
Silent interval
Total number of bytes
19