IAI America ROBO Cylinder Series - Manual (Page 221)

6. Modbus
ASCII
213
Modbus
6.4.11 Controller Status Signal Reading <>
(1) Function
This query reads the internal status of the controller.
[Refer to 4.3.2 (12), “Data of device status register 1”.]
(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’, ‘5’ Device status register 1
Number of registers [H] 4 ‘0’, ‘0’, ‘0’, ‘1’ Reading address 9005
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 address.
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 [H] 4 Status 1 Status 1 [Hex]
Error check [H] 2 LRC calculation result
Trailer 2 ‘CR’, ‘LF’
Total number of bytes 15