IAI America ROBO Cylinder Series - Manual (Page 217)

6. Modbus
ASCII
209
Modbus
6.4.10 I/O Port Output Signal Status Reading <>
(1) Function
Port output values of the RC controller are stored directly regardless of the PIO pattern.
(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’, ‘4’ Output port monitor register
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘1’ Reading address 9004
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 DO output value DI output value [Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 15