IAI America ROBO Cylinder Series - Manual (Page 211)

6. Modbus
ASCII
203
Modbus
6.4.8 Present Alarm Code Query <>
(1) Function
Whether the controller is normal or any alarm presently detected is indicated by a code.
If no alarm is present, 00
H
is stored.
[For details on alarm codes, refer to the operation manual that comes with each controller.]
(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’, ‘2’ Present alarm codes
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘1’ Reading address 9002
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’, ‘2’
Reading 1 register
= 2 bytes
Data 1 [H] 4 Alarm code Alarm code [Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 15