IAI America ROBO Cylinder Series - Manual (Page 209)

6. Modbus
ASCII
201
Modbus
6.4.7 Current Position Reading (in 0.01 mm units) Monitor <>
(1) Function
This query reads the current in units of 0.01 mm. The sign is effective.
(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’ Reading registers
Start address [H] 4 ‘9’, ‘0’, ‘0’, ‘0’ Current position monitor
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘2’
Reading addresses 9000
H
to 9001
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’ Reading registers
Number of data bytes [H] 2 ‘0’, ‘4’
Reading 2 registers
= 4 bytes
Data 1 [H] 4
In accordance with
the current value
Current value data [Hex]
Data 2 [H] 4
In accordance with
the current value
Current value data [Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 19